Download Mokon-K Series Driver User's Manual

Mokon-K Series Driver
User’s Manual
健昇科技股份有限公司
JS AUTOMATION CORP.
新北市汐止區中興路 100 號 6 樓
6F., No.100, Zhongxing Rd.,
Xizhi Dist., New Taipei City, Taiwan
TEL：+886-2-2647-6936
FAX：+886-2-2647-6940
http://www.automation.com.tw
http://www.automation-js.com/
E-mail：[email protected]
Correction record
Version
1.0
Record
1
Contents
1.
Checking Mokon-K series products on delivery ................................................................................. 5
1.1
Servomotor nameplate descriptions ............................................................................................. 5
1.2
Servomotor model naming........................................................................................................... 6
1.3
Servo drive model naming ........................................................................................................... 6
1.4
Servo drive part names ................................................................................................................ 7
1.5
Motor and it accessories .............................................................................................................. 8
2. Servo drive installation precautions ..................................................................................................... 9
2.1
Ambient conditions ...................................................................................................................... 9
2.2
Installation Orientation and Spacing............................................................................................ 9
2.3
Servo drive Installation and Cooling Method .............................................................................. 9
2.4
Prevent foreign object intrusion ................................................................................................. 10
3. Servo drive wiring precautions .......................................................................................................... 11
3.1
Main wiring................................................................................................................................ 11
3.2
Wiring for the controller and the encoder .................................................................................. 12
4. Servomotor installation precautions .................................................................................................. 13
4.1
Installation precautions of environment .................................................................................... 13
4.2
Connect the servomotor with load precautions.......................................................................... 14
4.3
Alignment .................................................................................................................................. 14
4.4
Handling oil and water ............................................................................................................... 15
4.5
Cable stress ................................................................................................................................ 15
5. Encoder wiring and SIG connector pin assignments ......................................................................... 16
5.1
Cable of Encoder ....................................................................................................................... 16
5.2
Connector and pin definitions .................................................................................................... 16
6. Input circuit ........................................................................................................................................ 18
6.1
Photo-isolated control input ....................................................................................................... 18
6.2
Pulse command input circuit (photo-coupled) ........................................................................... 18
6.3
Line driver pulse command input .............................................................................................. 19
6.4
Analog command input circuit .................................................................................................. 20
7. Output circuit ..................................................................................................................................... 21
7.1
Encoder output interface ............................................................................................................ 21
7.2
Open collector output................................................................................................................. 21
7.3
Sequence output circuit .............................................................................................................. 22
7.4
Analog monitor output ............................................................................................................... 22
8. Wiring diagram .................................................................................................................................. 23
8.1
Position control .......................................................................................................................... 23
8.2
Velocity control .......................................................................................................................... 24
Torque control ............................................................................................................................ 25
8.3
9. Digital input signals and their functions ............................................................................................ 26
9.1
Inputs common to all function mode ......................................................................................... 26
9.2
Torque mode related input ......................................................................................................... 27
9.3
Velocity mode related inputs...................................................................................................... 28
9.4
Position mode related inputs ...................................................................................................... 29
9.5
Command pulse input format .................................................................................................... 31
10.
Analog input signals and their functions ....................................................................................... 32
11.
Output Signals and Their Functions .............................................................................................. 35
11.1 Common output signals ............................................................................................................. 35
11.2 Encoder signal outputs ............................................................................................................... 37
12.
Setting with the Front Panel........................................................................................................... 39
12.1 Composition of Touch Panel and Display ................................................................................. 39
12.2 Structure of Each Mode ............................................................................................................. 40
12.3 Monitor Mode ............................................................................................................................ 41
2
12.3.1 Display of position deviation ............................................................................................. 42
12.3.2 Rotary Speed of Motor ...................................................................................................... 42
12.3.3 Torque output ..................................................................................................................... 42
12.3.4 Display of control mode .................................................................................................... 43
12.3.5 Display of I/O signal status ................................................................................................ 43
12.3.6 Error code Display ............................................................................................................. 44
12.3.7 Display of Software Version .............................................................................................. 45
12.3.8 Alarm Display .................................................................................................................... 45
12.3.9 Display of Regenerative Load Factor ................................................................................ 45
12.3.10 Display of Over-load Factor .............................................................................................. 45
12.3.11 Display of feedback pulse sum, command pulse sum ....................................................... 46
12.3.12 Display of analog input value ............................................................................................ 47
12.4 Parameter Setting Mode............................................................................................................. 48
12.4.1 How to enter the parameter setting mode .......................................................................... 48
12.4.2 Writing parameter data to EEPROM ................................................................................. 49
12.5 EEPROM writing mode ............................................................................................................. 50
12.5.1 How to enter the parameter setting mode .......................................................................... 50
12.5.2 Writing parameter to EEPROM ......................................................................................... 50
12.5.3 Writing factory default value to EEPROM ........................................................................ 51
12.6 AUTO-GAIN mode (off-line).................................................................................................... 52
12.6.1 How to enter the AUTO-GAIN mode................................................................................ 52
12.6.2 Execute the AUTO-GAIN tuning ...................................................................................... 52
12.7 auxiliary function mode ............................................................................................................. 53
12.7.1 Inspection Before Trial Run ............................................................................................... 53
12.7.2 How to enter the trial run (JOG run) mode........................................................................ 54
12.7.3 Execute trial run (JOG run) ............................................................................................... 54
12.8 Alarm clear mode....................................................................................................................... 54
12.8.1 How to enter the alarm clear mode .................................................................................... 54
12.8.2 Execute alarm clear ............................................................................................................ 55
12.9 Automatic offset adjustment ...................................................................................................... 55
12.9.1 How to enter the automatic offset adjustment mode ......................................................... 55
12.9.2 Execute automatic offset adjustment ................................................................................. 55
12.10 Alarm history clear .................................................................................................................... 56
12.10.1 How to enter the alarm history clear mode ........................................................................ 56
12.10.2 Execute the alarm history clear mode ................................................................................ 56
13.
Parameters ...................................................................................................................................... 57
13.1 Introduction of Parameters......................................................................................................... 57
13.2 Setting Method ........................................................................................................................... 57
13.3 Connection Method.................................................................................................................... 57
13.4 Contents and List of parameters ................................................................................................ 58
13.4.1 Parameters for function selection ...................................................................................... 59
13.4.2 Parameters for adjustment of time constants of gain and filters ........................................ 66
13.4.3 Parameters for adjustment of 2nd gain .............................................................................. 71
13.4.4 Parameters for position control .......................................................................................... 76
13.4.5 Parameters for velocity and torque control ........................................................................ 83
13.5 Parameters for process ............................................................................................................... 90
14.
Control Sequence Timing Chart .................................................................................................... 97
14.1 Servo ON signal process sequence as power-up ....................................................................... 97
14.2 When an Error (Alarm) Has Occurred (at Servo-ON Command) ............................................. 98
14.3 When an Alarm Has Been Cleared (at Servo-ON Command)................................................... 98
14.4 Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock) ............................................. 99
14.5 Servo-ON/OFF Action While the Motor Is in Motion ............................................................ 100
15.
Gain adjustment and speed limit.................................................................................................. 101
15.1 Real-time Auto-gain adjustment .............................................................................................. 101
3
15.2 Off-line Auto-gain adjustment ................................................................................................. 103
15.3 Manual Adjustment of gain...................................................................................................... 105
15.3.1 Adjustment in Position Control Mode ............................................................................. 105
15.3.2 Adjustment in Velocity Control Mode ............................................................................. 105
15.3.3 Adjustment in Torque Control Mode ............................................................................... 105
15.4 Setup of speed limit ................................................................................................................. 106
16.
Motor Characteristics (S-T Characteristics) ................................................................................ 107
16.1 Motor characteristic curve ....................................................................................................... 107
16.2 Overload protection time characteristics ................................................................................. 107
17.
Connector Kit for Motor/Encoder Connection ............................................................................ 108
17.1 Connector and connector pin ................................................................................................... 108
17.2 SCSI-II Interface Cable ........................................................................................................... 108
17.3 Specification of Main Loop connector .................................................................................... 108
18.
Driver Specifications ................................................................................................................... 109
18.1 Basic Specifications ................................................................................................................. 109
18.2 Function ................................................................................................................................... 110
19.
Error Code Description ................................................................................................................ 112
4
1. Checking Mokon-K series products on delivery
Check the following items when Mokon-K Series products are received:
- 1. Check the packed products for damages that may have occurred during shipping.
- 2. Check whether the name and number of the delivered products are the same as those on
the delivery sheet.
- 3. Check whether the servomotor and servo drive capacity and encoder specification are the
same as the ordered.
- 4. In the case of special order, please carefully check the delivered products and contact our
company immediately if any item is incorrect.
The following items are included in the standard set:
- 1. One servomotor.
- 2. One servo drive
- 3. One 50PIN SCSI-ii type connector for I/F*
- 4. One 20PIN SCSI-ii connector for SIG*
- 5. One connector for servomotor power line*
- 6. One encoder connector*
* If cable is your option, they will be soldered ready with the cable.
1.1 Servomotor nameplate descriptions
AC SERVO DRIVER
Model No.
MDKG00421L1
Serial No.
K080626100001
Input
220 – 330V 50/60Hz 2.8A
Power
400W
Rpm/min
2000
Encoder
8P-2500P/R
Manufacturer : JS Automation Corp.
6F., No. 100, Zhongxing Rd., Xizhi Dist.
New Taipei City 22161 Taiwan
Made in Taiwan
5
1.2 Servomotor model naming
1.3 Servo drive model naming
6
1.4 Servo drive part names
Mode switching button
MODE
Set button
SET
Display LED(6 Digital)
MODE
Data setup button
： SHIFT
： UP
： DOWN
SET
RS-232/485
Main power
input terminals
(L1： L2： L3)
231-205/026-000
WAGO
L3
r
SIG
L1
L2
220V
Control power
Input terminals
(r： t)
231-203/026-000
WAGO
Terminals for
motor connection
(U： V： W)
P
B1
B2
U
V
W
Screw for earth (x2)
7
I/F
Terminals for external
Regenerative resistor
(P： B1： B2)
Resistor
231-103/026-000
WAGO
Motor
t
Communication
connector RS-232
Connector,for
Encoder connection
SIG
Connector,for
host conection
1.5 Motor and it accessories
MKA 200W～750W
Connector for
encoder cable
Encoder cable
Motor cable
Connector for
motor cable
Rotary encoder
Connector for brake cable
(only applicable to the motor
with electromagnetic brake)
Motor frame
Mounting holes (X4)
Flange
MKA 1000W～2000W
Motor
Connect
Seal
Flange
Mounting holes(X4)
8
Encoder
Connect
2. Servo drive installation precautions
2.1 Ambient conditions
The servo drive should be stored in the environment within ambient conditions as following table
shown:
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Vibration
Condition
0°C to 55°C (free from freezing)
Less than 90% RH (free from condensation)
–20°C to 80°C (free from freezing)
Less than 90% RH (free from condensation)
Lower than 5.9m/S2 (0.6G), 10 to 60Hz
2.2 Installation Orientation and Spacing
- 1. When installing the servo drive, make the front panel containing connectors face outward and
take into consideration the easy connection/disconnection of I/F and SIG connectors for
measurement.
2.3 Servo drive Installation and Cooling Method
For multiple servo drives installation in the control cabinet, allow at least 40mm between each.
When installing servo drives side by side as shown in the figure below, allow at least 50mm allowance
above and below each servo drive or install cooling fans to facilitate air circulation.
t
P
B1
B2
U
V
W
220V
More
than
40mm
L3
r
t
Resistor
r
SIG
220V
L3
L1
L2
P
B1
B2
Motor
U
V
W
L1
L2
Resistor
SIG
220V
P
B1
B2
SET
RS-232/485
MODE
Motor
U
V
W
t
More
than
40mm
I/F
P
B1
B2
L3
r
I/F
Resistor
t
More
than
40mm
Resistor
r
L1
L2
Motor
L3
SIG
220V
L1
L2
Motor
More
than
40mm
SET
SIG
MODE
RS-232/485
SET
U
V
W
I/F
MODE
RS-232/485
SET
RS-232/485
MODE
Fan
I/F
Fan
More
than
50mm
9
More
than
40mm
2.4 Prevent foreign object intrusion
- 1. Prevent the drilling and cutting chips from entering the servo drive during installation and
operation.
- 2. Avoid the odd objects like oil water and metal powder from entering the servo drive via
cooling fans.
- 3. If using fans for cooling, please install the filter properly at the ventilating hole, and consider
the surrounding environment to choose the best direction for ventilation.
- 4. Please install heat exchanger or air filtering system when installing in locations subject to
poisonous gas or excessive dust.
Extra Notices:
1. Do not install the servo drive in locations likely to be affected by oil and dust. If unavoidable,
please install the Servo drive in the airtight control cabinet and consider using ventilation filter.
Also use a protective cover over the Servomotor.
2. When installing multiple servo drives in one airtight control cabinet, allow at least 50mm
between, above and below each servo drive and leave 120mm for maintenance space. In addition,
to ensure the reliability and improve the product life, leave certain distance between the servo
drive and the cabinet ceiling so the temperature around the servo drive does not exceed 55º C
which might lead to poor ventilation.
3. A frequent use of the regenerative resistor may lead to a temperature higher than 100 º C. Do not
put inflammables or heating deformable objects around. The wirings must also be kept away
from the resistor or severe damage will occur.
4. When installing near a source of vibration, install a vibration isolator to protect the Servo drive
from vibration.
10
3. Servo drive wiring precautions
3.1 Main wiring
- 1. Apply three-phase 220V AC mains through the NFB to the magnetic contactor then connect to
the servo drive RST terminals. Consider installing a reactor and linear noise filter if the local
power supply quality is poor.
- 2. Connect the UVW terminals of the servo drive with the red, white and black cable lines of the
servomotor directly or via terminal board, on which the cable lines be secured with a terminal
plier and wrapped tightly to avoid incidental short-circuit, power interruption or earth faults.
- 3. Make sure the cable lines are not damaged under stress. Be cautious of the cable wiring to
avoid as much as possible being subject to bending or tension.
- 4. If the servomotor is moving with the mechanism, arrange the bending section of the cable line
within the allowable curvature which is determined from the cable specification to assure
normal operation life.
- 5. Make sure the cable lines are not touched by sharp parts of the machine or pressed by any
heavy object.
- 6. Provide proper grounding wiring for the ground terminals of the servo drive and servomotor.
- 7. H1 and H2 are the thermostat terminals for the servomotor. Strictly forbid to short circuit them
with the machine bed or falsely connect with U V W E terminals.
- 8. After fastening the main terminal board, the ends of the wiring terminals can be bended up to
be kept away from the front nameplate as shown be
11
3.2 Wiring for the controller and the encoder
- 1. Each pin of I/F connector and SIG connector must be soldered and checked carefully for
correct pin number Check the adjacent pins after soldering to avoid being incidentally shorted
circuit by the solder or unused leads.
- 2. Wrap the soldered leads with shrinkable tubes to keep from being touched by each other.
- 3. If the leads from SIG connector must be extended, care must be taken in the connection section
and proper shielding measures must be adopted to suppress EMI noise.
- 4. Do not stretch tight the leads of SIG connector to avoid wiring faults of the encoder.
- 5. Power cables and signal lines should not be arranged in close parallel, and the leads for control
signals should be twisted and shielded.
Note: Be cautious of the length of the wiring and the measures for noise shielding if Mokon-K series is
used in position control mode. If not using the line driver type, the PULSE GND must be connected to
DGND, or the lost pulse fault may occur.
CAUTION
1. Do not bundle power and signal lines together in the same duct. Leave at least 30cm (11.81 in.)
between power and signal lines.
2. Use twisted-pair wires or multi-core shielded-pair wires for signal and encoder (PG) feedback
lines.
3. The maximum length for signal input lines is 3m (118.11 in.) and for PG feedback lines is 20m
(787.40 in.).
4. Do not touch the power terminals for 5 minutes after turning power off because high voltage
may still remain in the servo drive.
5. Make sure the Charge Indicator is out before starting an inspection.
6. Avoid frequently turning power on and off. Do not turn power on or off more than once per
minute.
7. Since the servo drive has capacitors in the power supply, a high charging current flows for 0.2
seconds when power is turned on. Frequently turning power on and off will cause main power
devices like capacitors and fuses to deteriorate, resulting in unexpected problems.
12
4. Servomotor installation precautions
4.1 Installation precautions of environment
Since the conditions of location affect a lot to the motor life, please choose the installation location
meets the following conditions.
Installation in the room where avoid the sun, or easy to damp places.
- 1. Do not set up in easily accessible to hydrogen sulfide, chlorine, ammonia, sulfur, chloride,
sulfide, pH, chlorine and other corrosive gases, or gas fire is guide the Department, or
flammable material near use.
- 2. Where the motor is free from grinding oil, oil mist, iron powder or chips
- 3. Well-ventilated and humid and dust-free place, far apart from the heat source such as a
furnace.
- 4. Easy-to-access place for inspection and cleaning.
- 5. Vibration-free place.
- 6. Avoid enclosed place. Motor may get hot in those enclosure and shorten the motor life.
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Vibration Motor only
Impact
Motor only
Condition
0°C to 40°C (free from freezing) *1
Less than 85% RH (free from condensation)
–20°C to 80°C (free from freezing) *2
Less than 85% RH (free from condensation)
Lower than 49m/s2 (5G) at running, 24.5m/s2 (2.5G) at stall
Lower than 98m/s2 (10G)
IP65 (except rotating portion of output shaft and lead wire end)
Enclosure
These motors conform to the test conditions specified in EN standards
Motor only
rating
(EN60529). Do not use these motors in application where water proof
performance is required such as continuous wash-down operation.
*
1 Ambient temperature to be measured at 5cm away from the motor.
*
2 Permissible temperature for short duration such as transportation.
Try to avoid water and oil exposure since the servomotor contains no water-proof structure. Install a
water-proof cover if it is used in a location that is subject to water or oil.
- 1. Servomotor cable line facing downward can prevent the oil and water from entering the
servomotor via cable line.
- 2. If the servomotor is installed vertically or with a slope, the cable line should be bended to
U-type to avoid the oil and water from entering via the cable line.
- 3. Carefully avoid the exposure of cable lines to oil and water that have adverse effects on
servomotor and encoder, also may cause malfunctions of the servo drive.
13
4.2 Connect the servomotor with load precautions
- 1. To mount a belt wheel, use the set screw to secure it on the shaft end if the motor shaft has a
keyway; Use a friction coupling if the motor shaft has no key way.
- 2. Use a special tool to dismantle the belt wheel, avoiding impact to the shaft.
- 3. Strictly forbid to exert force on the back cover of the encoder by hands or ropes when moving
the servomotor.
- 4. Strictly forbid the use of hammer to strike the shaft (likely to damage the encoder)
Avoid violent collision and vibration of servomotor when mounting
a belt wheel or a clutch! The encoder connecting with the shaft is
vulnerable under intense vibration which may adversely affect the
resolution and service life of the servomotor.
- 5.
- 6.
- 7.
- 8.
Do not change the encoder wiring direction.
Use a flexible connector. The round-off must meet with the allowable radial load.
Choose a proper pulley, chain wheel or timing belt that can meet with the requirement of the
allowable radial load.
If the servomotor is attached with a magnetic brake, either horizontal or vertical installation is
allowed. When the shaft is upward installed, the brake may normally make some noise.
4.3 Alignment
Align the shaft of the servomotor with the shaft of the apparatus, and then couple the shafts.
Install the servomotor so that alignment accuracy falls within the following range.
.
Measure this distance at four different positions around.
The difference between the maximum and minimum
measurements must be below 0.03mm (0.0012 in). (Turn
together with the coupling.)
.
14
4.4
Handling oil and water
Install a protective cover over the servomotor if it is used in
a location subject to water or oil mist.
Also use a servomotor with an oil seal to seal the through shaft
section.
4.5 Cable stress
Make sure there are no bends or tension on the power lines.
Be especially careful to signal line wiring to avoid stress because the diameter of the core wires is only
0.2 to 0.3mm (0.0079 to 0.012 in).
15
5. Encoder wiring and SIG connector pin assignments
5.1
Cable of Encoder
or
SCSI II connector
CAB1B030EG10 3m
CAB1B050EG10 5m
Connector
CAB1B030EM12 3m
CAB1B050EM12 5m
Connector
5.2 Connector and pin definitions
1
6 11
2
3
7 12
8 13
4
9 14
10 8 6 4 2
9 7 5 3 1
20 18 16 14 12
19 17 15 13 11
5 10 15
15 PIN
Connector
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Cable Color
Red
Green
Black
White
Yellow
Blue
Gray
Orange
Brown/ Light RED
Purple/ Light Green
Grounding Line of Isolation Net
16
Name of
the Signal
SCSI ii
connector
A
/A
B
/B
Z
/Z
NC
NC
NC
NC
RX
/RX
Vcc
GND
FG
7
8
9
10
11
12
17
18
3/4
1/2
20
10 8 6 4 2
9 7 5 3 1
20 18 16 14 12
19 17 15 13 11
A
M
B
N
L
C
T
P
D
K
S
J
H
R
G
E
F
17 PIN
Name of
Cable
Color
Connector
the Signal
A
Red
A
B
Green
/A
C
Black
B
D
White
/B
E
Yellow
Z
F
Blue
/Z
G
Purple/ Light Green
GND
H
Brown/ Light RED
Vcc
J
Grounding Line of Isolation Net
FG
K
NC
L
NC
M
NC
N
NC
P
Gray
RX
R
Orange
/RX
S
NC
T
NC
17
Servo drive Side
SCSI ii connector
7
8
9
10
11
12
1/2
3/4
20
17
18
6. Input circuit
Digital input
6.1
Photo-isolated control input
7 COM+ 4.7KΩ
7 COM+ 4.7KΩ
12~
24VDC
12~
24VDC
SRV-ON etc.
SRV-ON etc.
relay
Generally sequence input signals use 12-24Vdc voltage; you can connect contacts of switches,
relays or open collector output transistors to control the input.
6.2 Pulse command input circuit (photo-coupled)
Line driver I/F (Input pulse frequency: max. 500kpps)
We recommend this to secure the signal transmission since this method has better noise immunity.
represents twisted pair.
Open collector I/F (Input pulse frequency: max. 200kpps)
Connect to dedicated input with build-in resistor.
18
Open collector I/F with external resistor (Input pulse frequency: max. 200kpps)
VDC Specifications
12V
24V
1KΩ 1/2W
2KΩ 1/2W
VDC–1.5
≒10mA
R+220
6.3 Line driver pulse command input
Vcc
43KΩ
44 PULSH1
PULS
AM26LS32
2KΩ
220Ω
45 PULSH2
AM26LS31
2KΩ
25 GND
PC / CNC
43KΩ
Driver
exclusive line driver pulse train input (Input pulse frequency: max. 2Mpps)
This signal transmission method has better noise immunity. We recommend this to secure the signal
transmission.
represents twisted pair.
19
Analog input
6.4 Analog command input circuit
SPR/TRQR 14
15
+12V
+12V
CCWTL 16
17
CWTL
18
10KΩ
1.5KΩ
ADC
1
GND
10KΩ
1.5KΩ
ADC
2
GND
10KΩ
1.5KΩ
ADC
3
There are 3 12bit analog inputs: SPR/TRQR(Pin-14), CCWTL (Pin-16) and CWTL (Pin-18).
The Max. permissible input voltage to each input is ±10V.
20
7. Output circuit
Digital output
7.1
Encoder output interface
The encoder signal outputs are differential type for high speed signals. On the host receiver side,
the line receiver circuit is recommended. But on some occasion, single end can also be used on either +
or – output.
represents twisted pair.
7.2 Open collector output
The encoder Z-phase signal output is an open collector type. This output is not insolated.
Be sure to receive this output with high-speed photo couplers at the host side, since the pulse width of
the Z-phase signal is narrow.
represents twisted pair.
21
7.3 Sequence output circuit
The sequence control output circuit is isolated open collector outputs; they are suitable to connect
to relays or photo-couplers.
If used as collector drive, the wiring is recommended as above diagram; the current limit resistor
can be calculated as formula shown (the voltage drop of photo coupler transistor and receiver input
diode assumes 2.5V; the current limits to 10ma).
If used as emitter follower, the diagram is recommended as follows; the current limit resistor can be
calculated as formula shown (the voltage drop of photo coupler transistor and receiver input diode
assumes 2.5V; the current limits to 10ma).
7.4 Analog monitor output
There are two outputs, the speed monitor signal output (SP) and the torque monitor signal output
(IM), the signal range is ±10V. The output impedance is 1kΩ. Pay an attention to the input impedance of
the measuring instrument or the external circuit to be connected.
22
23
Zero speed detection output
Torque in-limit output
Brake release output
Positioning complete output
Servo-Alarm output
Servo-Ready output
CCW over-travel inhibition input
CW over-travel inhibition input
DIV
GAIN
CCW-LIMIT
COM-
ZSP
TLC
50
FG
47 SIGNH2
46 SIGNH1
45 PULSH2
44 PULSH1
41
12
40
10 BK-OFF-
11 BK-OFF+
38 ON-POS-
39 ON-POS+
36 SVO-ALM-
37 SVO-ALM+
34 SVO-RDY-
35 SVO-RDY+
8 CW-LIMIT
9
31 ALM-CLR
32 C-MODE
28
Electronic gear switching input
Alarm clear input
CLR
29 SVO-ON
30
27
Control mode switching input
COM+
2K
220
2K
2K
220
2K
43K
43K
43K
43K
4.7K
IF
SIGN
PULS
Divider
Command pulse input 1
(Use with 2Mpps or less.)
VDC
12~24V
7
33 PULS-INH
Gain switching input
Servo-ON Input
Command pulse inhibition input
Deviation counter clear input
3.83K
3.83K
1K
1K
10K
10K
20K
220
220
2.2KΩ
2.2KΩ
IM
SP
CWTL
GND
CCWTL/TRQR
GND
SPR/TRQR
CZ
GND
OZ-
OZ+
OB-
OB+
OA-
OA+
GND
SIGN2
SIGN1
PULS2
PULS1
OPC2
OPC1
330
330
330
8.1 Position control
Z-phase output
B-phase output
A-phase output
or less.)
(Use with 500kpps
input A
VDC
2KΩ 1/2W
1KΩ 1/2W
Specifications
of R
5 R
6
R
4
3
represents twisted pair.)
Torque monitor output
Velocity monitor output
CW torque limit input
(-10 to +10V)
CCW torque limit input
(0 to +10V)
SIGN2
OPC2
PULS2
OPC1
2
6
4
1
VDC
(2) When you do not use the external resistor with 24V power supply
24V
12V
VDC
SIGN2
SIGN1
PULS2
PULS1
(1) When you use the external resistor with 12V and 24V Command pulse power supply
In case of open collector I/F
Z-phase output (open collector)
(
42
43
18
17
16
15
14
19
25
24
23
49
48
22
21
13
6
5
4
3
2
1
8. Wiring diagram
VDC
12~24V
7
COM+
27
GAIN
29 SVO-ON
24
Zero speed detection output
Torque in-limit output
Brake release output
Positioning complete output
Servo-Alarm output
Servo-Ready output
CCW over-travel inhibition input
CW over-travel inhibition input
Alarm clear input
CCW-LIMIT
41
12
40
FG
SIGNH2
SIGNH1
PULSH2
PULSH1
COM-
ZSP
TLC
10 BK-OFF-
11 BK-OFF+
38 AT-SP-
39 AT-SP+
36 SVO-ALM-
37 SVO-ALM+
34 SVO-RDY-
35 SVO-RDY+
8 CW-LIMIT
9
31 ALM-CLR
Selection 2 input of internal command speed 28 INSP3
Speed zero clamp input 26
ZERO-SPD
Control mode 32 C-MODE
switching input
Gain switching input
Servo-ON Input
Selection 1 input of internal command speed 33 INSP1
Selection 2 input of internal command speed 30 INSP2
4.7K
Divider
IF
3.83K
3.83K
1K
1K
10K
10K
20K
IM
SP
(
CWTL
GND
CCWTL/TRQR
GND
SPR/TRQR
CZ
GND
OZ-
OZ+
OB-
OB+
OA-
OA+
GND
SIGN2
SIGN1
PULS2
PULS1
OPC2
OPC1
42
43
18
17
16
15
14
19
25
24
23
49
48
22
21
Z-phase output
B-phase output
A-phase output
represents twisted pair.)
Torque monitor output
Velocity monitor output
CW torque limit input
(-10 to +10V)
CCW torque limit input
(0 to +10V)
Velocity command input
(0 to ± 10V)
Z-phase output (open collector)
330
330
330
8.2 Velocity control
VDC
12~24V
Servo-ON Input
25
Zero speed detection output
Torque in-limit output
Brake release output
Positioning complete output
Servo-Alarm output
Servo-Ready output
CCW over-travel inhibition input
CW over-travel inhibition input
Alarm clear input
Speed zero clamp input
Control mode switching input
Gain switching input
7
COM+
CLR
DIV
GAIN
CCW-LIMIT
41
12
40
FG
SIGNH2
SIGNH1
PULSH2
PULSH1
COM-
ZSP
TLC
10 BK-OFF-
11 BK-OFF+
38 AT-SP-
39 AT-SP+
36 SVO-ALM-
37 SVO-ALM+
3.83K
20K
IF
3.83K
1K
1K
10K
10K
IM
SP
CWTL
GND
42
43
18
17
16
15
14
19
25
24
23
49
48
22
21
(
CCWTL/TRQR
GND
SPR/TRQR
CZ
GND
OZ-
34 SVO-RDY-
OB-
OB+
OA-
OA+
GND
SIGN2
SIGN1
PULS2
PULS1
OPC2
OPC1
OZ+
4.7K
Divider
35 SVO-RDY+
8 CW-LIMIT
9
31 ALM-CLR
32 C-MODE
26 ZERO-SPD
28
27
29 SVO-ON
30
33 PULS-INH
Z-phase output
B-phase output
A-phase output
represents twisted pair.)
Torque monitor output
Velocity monitor output
CW torque limit input
(-10 to +10V)
CCW torque limit input
(0 to +10V)
Velocity command input
(0 to ± 10V)
Z-phase output (open collector)
330
330
330
8.3 Torque control
9. Digital input signals and their functions
9.1 Inputs common to all function mode
Signal
Pin
Symbol
Function
Type
No.
• Connect + of the external DC power supply (12 to 24V).
7
COM+
• Use the power supply voltage of 12V ± 5% – 24V ± 5%
• Connect – of the external DC power supply (12 to 24V).
41
COM• The power capacity varies depending on a composition of I/O
circuit. 0.5A or more is recommended.
CW over-travel protection input
• Use this input to inhibit a CW over-travel (CWL).
• Connect this so as to make the connection to COM– open
when the moving portion of the machine over-travels the
movable range toward CW.
8
CW-LIMIT
• CWL input will be invalidated when you set up Pr04 (Setting
of over-travel inhibit input) to 1.Default is "Invalid (1)".
• You can select the action when the CWL input is validated
with the setting of Pr66 (Sequence at over-travel protection).
Default is "Emergency stop with dynamic brake".(Pr66=0)
CCW over-travel protection input
• Use this input to inhibit a CCW over-travel (CCWL).
• Connect this so as to make the connection to COM– open
when the moving portion of the machine over-travels the
movable range toward CCW.
9
CCW-LIMIT
Position/
• CWL input will be invalidated when you set up Pr04 (Setting
Velocity/
of over-travel inhibit input) to 1.Default is "Invalid (1)".
Torque
• You can select the action when the CCWL input is validated
with the setting of Pr66 (Sequence at over-travel inhibit).
Default is "Emergency stop with dynamic brake".(Pr66=0)
Alarm clear input
• You can release the alarm status by connecting this to COM–
for more than 120ms.
31
ALM-CLR
• The deviation counter will be cleared at alarm clear.
• There are some alarms which cannot be released with this
input.
32
Control mode switching input
• You can switch the control mode as below by setting up Pr02
(Control mode setting) to 3-5.
Connection to
Pr02 setting
Open (1st)
COM– (2nd)
3
Position control
Velocity control
C-MODE
4
Position control
Torque control
5
Velocity control
Torque control
<Caution>
Depending on how the command is given at each control mode,
the action might change rapidly when switching the control
mode with C-MODE. Pay an extra attention.
26
9.2 Torque mode related input
Signal
Pin No.
Symbol
Type
26
Function
• Function varies depending on the control mode.
• Becomes to a speed-zero clamp input (ZEROSPD).
Connection
to COM–
Pr06
ZERO-SPD
0
1
2
27
－
open
Close
open
Close
Content
ZERO-SPD input is
invalid
Speed command is 0
Normal action
invalid
invalid
Torque limit switching input
• Function varies depending on the settings of Pr30
(2nd gain setting) and Pr03 (Selection of torque limit).
torque
Pr 0
Connection
to COM–
Velocity loop : PI
(Proportion/Integration) action
Velocity loop :
Close
P (Proportion) action
when the settings of Pr31,Pr36 and 3A are 2
Open
1st gain selection
(Pr10,11,12,13 and 14)
close
2nd gain selection
(Pr18,19,1A,1B and 1C)
when the settings of Pr31,Pr36 and 3A are 2
invalid
Open
GAIN
0
1
Content
27
9.3 Velocity mode related inputs
Signal
Pin No.
Symbol
Type
26
Function
• Function varies depending on the control mode.
• Becomes to a speed-zero clamp input (ZEROSPD).
Connection
to COM–
Pr06
ZERO-SPD
0
－
1
open
Close
open
2
Close
Content
ZERO-SPD input
is invalid.
Speed command is 0
Normal action
Speed command
is to CCW
Speed command
is to CW.
Gain switching input
• Function varies depending on the settings of Pr30
(2nd gain setting) and Pr03 (Selection of torque limit).
velocity
Connection
to COM–
Pr30
Velocity loop : PI
(Proportion/Integration) action
0
Velocity loop :
Close
P (Proportion) action
when the settings of Pr31,Pr36 and 3A are 2
Open
1st gain selection
(Pr10,11,12,13 and 14)
1 close
2nd gain selection
(Pr18,19,1A,1B and 1C)
when the settings of Pr31,Pr36 and 3A are 2
invalid
Electronic gear (division/multiplication) switching input
• Function varies depending on the control mode.
• Input of internal speed selection 3 (INTSP3)
•You can make up to 8-speed settings combining
INH/INTSP1 and CL/INTSP2 inputs.
Open
27
GAIN
28
DIV
Content
28
9.4 Position mode related inputs
Signal
Pin No.
Symbol
Type
28
DIV
Function
Electronic gear (division/multiplication) switching input
• Function varies depending on the control mode.
• You can switch the numerator of electronic gear. By
connecting DIV to COM–, you can switch the numerator
of electronic gear from Pr47 (1st numerator of electronic
gear) to Pr48 (2nd numerator of electronic gear)
• For the selection of command division/multiplication,
refer to the table of next page, "Numerator selection of
command scaling"
<Caution>
Do not enter the command pulse 10ms before/after
switching.
Numerator selection of electronic gear
CN X5
Setup of electronic gear
Pin-28
DIV
Open
1st numerator of electronic gear (Pr46) ×2
Multiplier of command scaling (Pr4A)
Denominator of electronic gear (Pr4B)
position
Short
2nd numerator of electronic gear (Pr46) ×2
Multiplier of command scaling (Pr4A)
Denominator of electronic gear (Pr4B)
29
SV-ON
Servo on input
• Servo drive energize the servo motor while SV-ON is
activated.
• Turns to Servo-ON status by connecting this input to
COM–.
• Turns to Servo-OFF status by opening connection to
COM–, and current to the motor will be shut off.
• You can select the dynamic brake action and the
deviation counter clearing action at Servo-OFF with Pr69
(Sequence at Servo-OFF).
<Caution>
1.Servo-ON input becomes valid approx.2 sec after
power-on. (see P.109, "Timing Chart" of Preparation.)
2.Never run/stop the motor with Servo-ON/OFF.
3.After shifting to Servo-ON, allow 100ms or longer pause
before entering the pulse command.
29
30
position
31
33
position
44
45
46
47
position
1
3
4
2
5
6
Deviation counter clear input
• Function varies depending on the control mode.
• Input (CL) which clears the positional deviation counter
and full-closed deviation counter.
• You can clear the counter of positional deviation by
connecting this to COM–.
• You can select the clearing mode with Pr4E (Counter
clear input mode).
CLR /
Pr4D
Content
INSP2
Clears the counter of positional
0
deviation while CLR is connected
to COM–.
Clears the counter of positional
1
[Default] deviation only once by connecting
CLR to COM– from open status.
2
CLR is invalid.
Alarm clear input
• You can release the alarm status by connecting this to
COM– for more than 120ms.
ALM-CLR
• The deviation counter will be cleared at alarm clear.
• There are some alarms which cannot be released with this
input.
Inhibition input of command pulse
• Function varies depending on the control mode.
• Inhibition input of command pulse
input (INH)
• Ignores the position command pulse by
opening the connection to COM–
PULS-INH
• You can invalidate this input with Pr43
/ INSP1
Position
(Invalidation of command pulse
control
inhibition input)
Pr43
Content
0
INH is valid
1(Default)
INH is invalid
Command pulse sign input #1
PLUSH1 • If Pr40 = 1; command pulse input #1 will be enabled.
• Permissible max. input frequency is 2Mpps.
PLUSH2 • You can select up to 6 command pulse input formats with
SIGNH1 Pr41 (Setting of command pulse rotational direction) and
Pr42 (Setting of command pulse input mode).For details,
SIGNH2 refer to the table below, "Command pulse input format".
refer 6.3 Line driver pulse command input
OPC1
Command pulse sign input #2
• If Pr40 = 0; command pulse input #2 will be enabled.
PULS1
• Permissible max. input frequency is 500kpps at line
PULS2
driver input and 200kpps at open collector input.
OPC2
•
You can select up to 6 command pulse input formats with
SIGN1
Pr41 (Setting of command pulse rotational direction) and
Pr42 (Setting of command pulse input mode). For details,
SIGN2
refer to the table below, "Command pulse input format".
refer 6.2 Pulse command input circuit (photo-coupled)
30
9.5 Command pulse input format
Pr41
setup
value
Pr42
setup
value
CCW command
t1
0 or 2
PULS
SIGN
CW command
t1
t1
t1
A-phase
B-phase
t1
t1
t1
B-phase advances to A by 90°.
t1
B-phase delays from A by 90°.
t3
【0】
【1】
PULS
SIGN
t2
PULS
t2
t4
t5
t2
t4 t5
3
t2
“L”
SIGN
“H”
t6
t6
t1
t6
t1
t1
t6
t1
A-phase
0 or 2
PULS
SIGN
B-phase
t1
t1
t1
t1
B-phase advances to A by 90°.
B-phase delays from A by 90°.
t3
【1】
【1】
PULS
t2
t2
SIGN
t2
PULS
t4
3
t4
t5
t5
“L”
“H”
SIGN
t2
t6
t6
t6
t6
•PULS and SIGN represents the pulse train to input circuit.
•Pulse train will be captured at the rising edge for CW/ CCW or pulse /direction input mode.
•In case of 2-phase input (A phase and B phase), pulse train will be captured at both edge.
•Permissible max. input frequency of command pulse input signal and min. necessary time width
Permissible
Min. necessary time width
Input I/F of PULS/SIGN signal
max. input
t1
t2
t3
t4
t5
t6
frequency
Pulse train interface exclusive
2Mpps
500ns 250ns 250ns 250ns 250ns 250ns
to line driver
Line driver interface
500kpps
2µs
1µs
1µs
1µs
1µs
1µs
Pulse train
interface Open collector interface
200kpps
5µs 2.5µs 2.5µs 2.5µs 2.5µs 2.5µs
Make the rising/falling time of the command pulse input signal to 0.1μs or smaller.
31
10. Analog input signals and their functions
Type
Pin
No.
14
Symbol
SPR /
TRQR
Function
Speed command input or Torque command input
• Function varies depending on control mode.
Control
Pr02
function
mode
• Input of external speed command (SPR)
when the velocity control is selected.
• Set up the gain, polarity, offset and filter
Position/ of the Speed command with:
3
Velocity
Pr50 (Speed command input gain)
Pr51 (Speed command input reversal)
Pr52 (Speed command offset)
• Function varies depending on Pr5B
(Selection of torque command)
Pr5b
speed/
torque
0
4
Position/
Torque
1
Content
• Torque command (TRQR) will
be selected.
• Set up the torque (TRQR) gain,
polarity,
Offset with:
Pr5C (Torque command input
gain)
Pr5D (Torque command input
reversal)
Pr52 (Speed command offset)
• Speed limit (SPL) will be
selected.
• Set up the speed limit (SPL)
gain, offset and filter with:
Pr50 (Speed command input gain)
Pr52 (Speed common offset)
Other
control •This input is invalid
mode
•The resolution of the A/D converter used in this input is 12
bit (including 1 bit for sign). ±2047 = ±10[V]
Others
32
position/
velocity/
torque
16
CCWTL / CCW-Torque limit input
TRQR
• Function varies depending on Pr02 (Control mode setting).
Pr02
Control mode
content
• Function varies depending on Pr5B
(Selection of torque command)
Pr5B Content
0
This input becomes invalid.
• Torque command input
(TRQR) will be selected.
2
Torque control
• Set up the gain, polarity and
4
Position/Torque
offset of the command with:
Pr5C (Torque command input
1
gain)
Pr5D(Torque command input
reversal)
Pr2A (CCW Torque Control
Offset)
• Becomes to the torque command input
(TRQR).
• Set up the gain, polarity and offset of
5
Velocity/Torque the command with:
Pr5C (Torque command input gain)
Pr5D(Torque command input reversal)
Pr2A (CCW Torque Control Offset)
• Becomes to the analog torque limit
input to CCW(CCWTL).
Position/Torque
4
• Limit the CCW-torque by applying
Velocity/Torque
5
positive voltage(0 to +10V)
Other control
(Approx.+3V/rated toque)
other
mode
• Invalidate this input by setting up Pr03
(Torque limit selection) to other than 0.
•The resolution of the A/D converter used in this input is 12 bit
(including 1 bit for sign). ±2047= ±10[V]
33
position/
velocity/
torque
18
CWTL
CW-Torque limit input
• Function varies depending on Pr02 (Control mode setting).
Pr02
Control mode
Content
2
Torque control
•This input becomes invalid when the
4
Position/Torque torque control is selected.
5
Velocity/Torque
• Becomes to the analog torque limit
input to CW(CWTL).
Position/Torque
4
• Limit the CW-torque by applying
Velocity/Torque
5
negative voltage (0 to –10V)
Other control
(Approx.+3V/rated toque).
other
mode
Invalidate this input by setting up Pr03
(Torque limit selection) to other than 0.
•The resolution of the A/D converter used in this input is 12 bit
(including 1 bit for sign). ±2047= ±10[V]
Note:
Do not apply voltage exceeding ±10V to analog command input of SPR/TRQR.
34
11. Output Signals and Their Functions
11.1 Common output signals
Pin
Type
Symbol
No.
position/
11 BK-OFF+
velocity/
10 BK-OFFtorque
position/
velocity/
torque
35
SVO-RDY+
34
SVO-RDY-
37
SVO-ALM+
36
SVO-ALM-
39
38
IN-POS+
IN-POS-
12 ZSP
(41) (COM-)
40 TLC
(41) (COM-)
Function
External brake release signal
• Feeds out the timing signal which activates the
electromagnetic brake of the motor.
•Turns the output transistor ON at the release timing of the
electromagnetic brake.
• You can set up the output timing of this signal with
Pr6A (Setting of mechanical brake action at stall)
Pr6B (Setting of mechanical brake action at motion).
For details, refer to Chapter 14 Control Sequence Timing
Chart)
Servo-Ready output
• This signal shows that the driver is ready to be activated.
• Output transistor turns ON when both control and main
power are ON but not at alarm status.
Servo-Alarm output
• This signal shows that the driver is in alarm status.
• Output transistor turns ON when the driver is at normal
status, turns OFF at alarm status.
Positioning complete (In-position)
• Function varies depending on the control mode.
Output of positioning complete (IN-POS)
• The output transistor will turn ON when the
Position
absolute value of the position deviation pulse
control
becomes smaller than the setting value of Pr60
(Positioning complete range).
Output in-speed (speed arrival) (IN-SPEED)
Velocity
• The output transistor will turn ON when the
/Torque
actual motor speed exceeds the setting value of
control
Pr62 (In-speed).
Zero-speed detection output signal
• Content of the output signal varies depending on Pr0A
(Selection of ZSP output).
• Default is 1, and feeds out the zero speed detection signal.
• For details, see the table below, "Selection of TLC,ZSP
output".
Torque in-limit signal output
• Content of the output signal varies depending on Pr09
(Selection of TLC output).
• Default is 0, and feeds out the torque in-limit signal.
• For details, see the table below, "Selection of TLC,ZSP
output".
35
Selection of TCL and ZSP outputs
Value of
Pr09 or Pr0A
0
1
2
3
4
I/F TLC : Output of Pin-40
I/F ZSP : Output of Pin-12
Torque in-limit output (Default of I/F TLC Pr09)
• The output transistor turns ON when the torque command is limited by the torque
limit during Servo-ON.
Zero-speed detection output (Default of I/F ZSP Pr0A)
• The output transistor turns ON when the motor speed falls under the preset value
with Pr61.
Alarm signal output
• The output transistor turns ON when either one of the alarms is triggered,
over-regeneration alarm, overload alarm.
Over-regeneration alarm
• The output transistor turns ON when the regeneration exceeds 85% of the alarm
trigger level of the regenerative load protection.
Over-load alarm
• The output transistor turns ON when the load exceeds 85% of the alarm trigger
level of the overload alarm.
36
11.2 Encoder signal outputs
Pin
Type
Symbol
Function
No.
21
OA+
OA+,OA-: A phase output
OB+,OB-: B-phase output
22
OAOZ+,OZ-: Z-phase output
48
OB+
position/
velocity/
torque
49
23
OBOZ+
24
OZ-
19
CZ
42
IM
• You can set up the division ratio with
Pr44 (Output Pulse Pre-division of Every Reversion)
Pr4E(Numerator of pulse output division) and
Pr4F(Denominator of pulse output division)
• You can select the logic relation between A-phase and B-phase,
and the output source with Pr45 (Reversal of pulse output logic).
• Ground for line driver output is connected to signal ground
(GND) and is not insolated.
• Max. output frequency is 4Mpps (after multiplied by 4)
Z-phase output
• Open collector output of Z-phase signal
• The emitter side of the transistor of the output is connected to
the signal ground (GND) and is not insolated.
Torque monitor signal output
• The content of output signal varies depending on Pr08 (Torque
monitor(IM) selection).
• You can set up the scaling with Pr08 value.
Content of
Pr08
Function
signal
• Feeds out the voltage in proportion
to the motor torque command with
Torque
polarity.
0-2
command
+ : generates CCW torque
– : generates CW torque
• Feeds out the voltage in proportion
to the position deviation pulse
Position counts with polarity.
3-7
deviation
+ : CCW command to motor
– : CW command to motor
37
43
SPM
13,15,
17,25
GND
50
FG
Speed monitor signal output
• The content of the output signal varies depending on Pr07
(Speed monitor (IM) selection).
• You can set up the scaling with Pr07 value.
Control
Pr07
Function
mode
• Feeds out the voltage in proportion to
the motor speed with polarity.
Motor
0-4
speed
+ : rotates to CCW
– : rotates to CW
• Feeds out the voltage in proportion to
Command the command speed with polarity.
5-9
speed
+ : rotates to CCW
– : rotates to CW
Signal ground
• This output is insulated from the control signal power (COM–)
inside of the driver.
Frame ground
• This output is connected to the earth terminal inside of the
driver.
38
12. Setting with the Front Panel
12.1 Composition of Touch Panel and Display
MODE
SET
Display LED (6-digit)
All of LED will flash when error occurs,
and switch to error display screen.
All of LED will flash slowly when warning occurs.
Press these to change display and data, select
parameters and execute actions.
(Change/Selection/Execution is valid to the digit
which decimal point flashes.)
Numerical value increases by pressing ,
decreases by pressing .
Shifting of the digit for data changing to higher digit.
(Valid to the digit whose decimal point flashes.)
SET Button (valid at any time)
Press this to switch SELECTION and
EXECUTTION display.
Mode switching button (valid at SELECTION display) Press this to switch 5 kinds of mode.
1) Monitor Mode
2) Parameter Set up Mode
3) EEPROM Write Mode
4) Auto-Gain Tuning Mode
5) Auxiliary Function Mode
39
12.2 Structure of Each Mode
Initial status of the
Console LED
MODE
(MODE switching button)
Execution
SELECTION display
SET
…
…
Monitor
mode
Refer to 12.3
Monitor Mode in
p41
(SET button)
MODE
(MODE switching button)
…
…
SET
Parameter
Set up mode
(SET button)
MODE
Refer to 12.4
Parameter
Setting Mode in
p48
(MODE switching button)
SET
EEPROM
Writing mode
Refer to 12.5
EEPROM writing
mode in p50
(SET button)
MODE
(MODE switching button)
SET
Auto Gain
~
(SET button)
16 kinds of Stiffness
MODE
Refer to 12.4
Parameter Setting
Mode in p48
(MODE switching button)
A
SET
Auxiliary
Function mode
(SET button)
MODE
(MODE switching button)
40
Refer to 12.7
auxiliary function
mode in p53
12.3 Monitor Mode
Initial status of the
Console LED
MODE
MODE switching button
Selection display
EXECUTION display
Display
example
Position
deviation
Description
3 deviation pulses
Motor rotation
speed
2000rpm
Torque output
Torque output 100%
Control mode
Position control mode
I/O signal status
Display of I/O
Signal status
Error history
No error currently
Software version
Software version
of 002
Page to
refer
p42
p42
p42
p43
p43
p44
p45
SET
Alarm
press
press
SET button
No alarm
Regenerative
Load factor
58% of permissible
Regenerative power
Inertia ratio
156% inertia ratio
p45
p45
p45
Overload factor
60% of overload
factor
p45
Feedback
Pulse sum
Feedback pulse sum
Is 2710 pulses
p46
Command
Pulse sum
Command pulse sum
Is 5133 pulses
p46
Analog input
value
SPR input +10.00V
Display shift forward the arrowed
direction by
Reversed direction by
MODE
To parameter setup Mode
41
p47
12.3.1 Display of position deviation
Purpose: display position deviation (cumulative pulse counts of deviation counter)
“–“ + number display: generates rotational torque of CW direction (viewed from shaft end)
only number display : generates rotational torque of CCW direction (viewed from shaft end)
Display Scope：–9999 ~ 9999 （value less than low limit is displayed with
upper limit is displayed with
Unit：Pulse
）
12.3.2 Rotary Speed of Motor
Purpose: display motor speed in rpm
“–“ + number display : CW rotation
only number display: CCW rotation
Unit：rpm
12.3.3 Torque output
Purpose: display torque output in percentage of rated torque
“–“ + number display : CW rotation
only number display : CCW rotation
Scope：–300 ~ 300 (100% in rated torque)
Unite：%
42
,value over
12.3.4 Display of control mode
Setting Value of Pr02
Panel Display
State of C-MODE pins（32Pin）of I/F joint
Open
Short
0 Position control mode
1 Velocity control mode
2 Torque control mode
3 Position/Velocity control mode
4 Position/Torque control mode
5 Velocity/Torque control mode
12.3.5 Display of I/O signal status
CCW-LIMIT
ZERO-SPD
GAIN
CW-LIMIT
CLR
DIV
SVO-ON
PULS-INH
ALM-CLR
C-MODE
TLC
BK-OFF
ON-POS
ZSP
SVO-ALM
SVO-RDY
Purpose: display the state of input/output signal connecting to I/F
The segment of LED lights, it means that the signal input switch is on else input switch is off.
* About the names and functions of all output signals, refer to the connection of all control
modes.
* It’s switch connecting CCW-LIMIT and CW-LIMIT, use B connection of usually closed
switch.
* It’s can be used to test whether the wiring is correct or not.
43
12.3.6 Error code Display
See right graph
Error code No.
(
appears if
no error occurs)
Error code No.
History 01~16
You can refer the last 16 error factors (including present one)
Press
to select the factor to be referred.
Purpose: display error code and its history
Error code No. and its meaning
Error
Code
Meaning
No.
Error
Code
No.
24
No fault
Meaning
Excess position deviation protection
11
Under-voltage protection for control
26
Over-speed protection
power
12
Over-voltage protection
29
Deviation counter overflow protection
13
Under-voltage protection for main power
36
EEPROM parameter error protection
14
Over-current protection(software)
37
EEPROM parameter error protection
15
Overheat protection
38
Run-inhibit input protection
16
Overload protection
48
Encoder Z-phase error protection
18
Over-regenerative load protection
49
Encoder Z phase lose protection
20
Encoder A,B phase error protection
50
Encoder Z phase double signal.
21
99
Over-current protection(Hardware)
Encoder communication error protection
22
Encoder communication data error
protection
※Following errors are not included in the history Error Code No.11、13
Protective Function (Detail of Error Code)
Error
Code
Meaning
No.
Under-voltage protection for control
11
power
12 Over-voltage protection
Causes
While DSP is low voltage, inhibit process of
EEPROM and display error.
Occurs while voltage is over AC 260V.
Occurs while voltage is lower than AC 170V or
13 Under-voltage protection for main power
connection of single phase power is not correct.
Occurs while DC-bus is over
DC400V(AV283V), flyback rate is 100%, the
18 Over-regenerative load protection
bench-mark of flyback limit is DC 368V, 0%,
and DC 395V, 85%.
Encoder communication error protection Verify whether connector of SIG encoder
20,21 Encoder Z-phase error protection
correctly connect to driver.
22,48 Encoder communication data error
Verify connection of male and female connector
protection
of encoder cable is correct.
14,99 Over-current protection(software)
Verify whether motor power(U,V,W) is short
99 Over-current protection(Hardware)
circuit or loose.
44
12.3.7 Display of Software Version
Purpose: display the software version of driver.
12.3.8
Alarm Display
……no
……Alarm
alarm、
occurrence
Over-regeneration alarm：Turns on when regenerative load reaches
more than 85% of alarm trigger level of regenerative load protection.
Overload alarm : Turns on when the load reaches 85% or more of
alarm trigger level of over-load protection.
Over 85%, the LED panel will keep on flickering.
12.3.9 Display of Regenerative Load Factor
Display the ratio (%) against the alarm trigger
level of regenerative protection.
This is valid when Pr6C (Selection of
external regenerative resistor) is 0 or 1.
12.3.10Display of Over-load Factor
Displays the ratio (%) against the rated load. Refer to Charpter 6, "Overload Protection Time
Characteristics" of When in Trouble.
45
12.3.11Display of feedback pulse sum, command pulse sum
Scope：0～99999
Unit：Pules
Total sum of pulses after control power-on display overflows as the figures show.
99999
99999
0
CW
99999
0 (at control power-ON) 0
CCW
By pressing for approx. 3 sec. or longer
on either one of screens of total sum of
pulses display, you can clear feedback
total sum, command pulse total sum or
external scale feedback pulse total sum to
“0”.
[0-clear EXECUTION display]
Keep pressing toshiftthe“ ”as
the right fig. shows.
46
12.3.12Display of analog input value
Input voltage value [V]
Input signal
There are 3 analog inputs: SPR, CCWTL and CWTL; select the signal to be monitored by pressings
.
(SPR analog input value, unit [V]) Displays the value after offset correction.
(CCWTL analog input value, unit [V])
(CWTL analog input value, unit [V])
Note) Voltage exceeding ± 10V can not be displayed correctly.
47
12.4 Parameter Setting Mode
12.4.1 How to enter the parameter setting mode
From the initial state of LED, press
parameter number selection.
MODE
twice to enter the parameter setting mode –
Parameter No. (Hexadecimal No.)
<Note>
Forparameterswhichplaceisdisplayedwith“ ”, the content changed and written to EEPROM becomes valid after turning off the power once.
Press
or
to select parameter No. to be referred/set.
Press
to shift to arrowed direction.
Press
to shift to reversed direction.
SET
After selecting the parameter number you want to set, Press
mode.
to enter the parameter data entry
You can change the decimal point with
to select the digit to be change.
Press
or
to set up the value of the digit.
SET
Note: After changing the parameter value and pressing
, the content will be reflected in the
control. For some parameters such as that concerning velocity loop or position loop, do not extremely
change the parameter value which might affect the motor movement very much.
48
12.4.2 Writing parameter data to EEPROM
While driver powering on,
the initial setting value of
LED will be displayed.
MODE
Press MODE key twice
to choose Pr.1.
SET
Press SET key
Set pre-monitor of driver starting
power to [Position deviation]
Change the pre-set monitor of
powering-on driver from
“positiondeviation”to“rotary
speedofmotor”
Press SET key: the pre-set monitor
of powering-ondriveris“position
deviation”, press
to change
value.
SET
MODE
Press SET key again to input data
Write in the set value in the panel
Press MODE key to choose
EEPROM mode
Save parameter value
to the EEPROM
SET
Press SET button
Press
continuously
After completing the screen
and panel screen displays
BEGIN, free
key.
Turn off the control power
once to reset.
The screen will display r0, which means the completion of setting.
• When you change the parameters which contents become valid after resetting,
will be
displayed after finish writing. Turn off the control power once to reset.
Note 1. When writing error occurs, make writing again. If the writing error repeats many times, this
might be a failure.
2. Don't turn off the power during EEPROM writing. Incorrect data might be written. If this
happens, set up all of parameters again, and re-write after checking the data.
49
12.5 EEPROM writing mode
12.5.1 How to enter the parameter setting mode
Starting from the initial LED status, press then brings the display of EEPROM writing Mode
MODE
Press to make EXECUTION DISPLAY
Press
or
to choose
Writing parameter to EEPROM.
Writing default parameter to EEPROM
<Attention>
To write in factory default value while Servo OFF.
12.5.2 Writing parameter to EEPROM
SET
Under option screen of
, press
While executing writing-in, continuously press
to choose
until
to execution screen.
is displayed.
“ ”increaseswhile
keep pressing
(for approx. 5sec)
Starts writing.
Finishes writing
Writing completes
Writing error
• When you change the parameters which contents become valid after resetting,
will be
displayed after finishing wiring. Turn off the control power once to reset.
Note: 1. When writing error occurs, make writing again. If the writing error repeats many times,
this might be a failure.
2. Don't turn off the power during EEPROM writing. Incorrect data might be written. If this
happens, set up all of parameters again, and re-write after checking the data.
50
12.5.3 Writing factory default value to EEPROM
SET
Under option screen of
, press
While executing writing-in, continuously press
to choose
until
execution screen.
is displayed.
“ ”increaseswhile
keep pressing
(for approx. 5sec)
Starts writing.
Finishes writing
Writing completes
Writing error
When you change the parameters which contents become valid after resetting,
will be
displayed after finishing wiring. Turn off the control power once to reset.
Note: 1. When writing error occurs, make writing again. If the writing error repeats many times, this
might be a failure.
2. Don't turn off the power during EEPROM writing. Incorrect data might be written. If this
happens, set up all of parameters again, and re-write after checking the data.
51
12.6 AUTO-GAIN mode (off-line)
Note:
1. about in- line auto-gain , pleas reference chapter 15 Gain adjustment and speed limit.
2. The motor will be driven in a preset pattern by the driver in off-line auto-gain tuning mode.
You can change this pattern with Pr25 (Setting of action at off-line auto-gain tuning), however,
shift the load to where the operation in this pattern may not cause any trouble before executing
this tuning.
3. Depending on the load, oscillation may occur after the tuning. In order to secure the safety, use
Pr14 to eliminate the noise.
12.6.1 How to enter the AUTO-GAIN mode
Press
four times to enter into Auto-Gain setting mode.
MODE
Display
Stiffness factor(0~15)：
Now press
or
to set mechanical stiffness factor (1~15).
12.6.2 Execute the AUTO-GAIN tuning
SET
Press
to display
execution screen。
Note:
1. To avoid loss of gain parameter during power off, please store parameter to the EEPROM.
2. When adjustment is wrong, please adjust the gain parameter back to the previous data.
Moreover, as load difference; sometimes machine will produce vibration but not faults, so pay
attention to the safety.
3. Error occurred, checking the motor Servo ON state.
52
12.7 auxiliary function mode
You can make a trial run (JOG run) without connecting the Connector, I/F to the host controller
such as PLC.
Note:
1. Separate the motor from the load, detach the Connector, CN X5 before the trial run.
2. Bring the user parameter settings (especially Pr11-14 and 20) to defaults, to avoid oscillation or
other failure.
12.7.1 Inspection Before Trial Run
(1) Inspection on wiring
•Miswiring?
(Especially power input and motor output)
•Shortorgrounded?
•Looseconnection?
(2) Confirmation of power supply and voltage
•Ratedvoltage?
220V
Kingservo
RS-232/485
SET
SIG
L1
L2
L3
r
SIG
MODE
Power
supply
U
V
W
I/F
Resistor
(4) Separation from the
mechanical system
P
B1
B2
Motor
t
(3) Fixing of the servo motor
•Unstablemounting?
ground
(5) Release of the brake
Machine
Motor
SET
(6) Turn to Servo-OFF after finishing the trial run by pressing
53
.
12.7.2 How to enter the trial run (JOG run) mode
MODE
From the initial state of LED, press
Press
five times to enter into auxiliary function mode.
,to display
12.7.3 Execute trial run (JOG run)
SET
Press
to display
execution screen.
“ ”increaseswhile
keep pressing
(for approx. 5sec)
Turns to Servo-OFF
SET
by pressing .
Stage of trial run
Servo-ON status
Not a Servo-Ready.
While cutting off main power
while inputing SVO-ON input signal
Press , motor rotates along CCW; press , motor rotates along CW.
Rotate motor with the speed set according to Pr57(JOG speed) (p86).
, and the motor will cease at once.
Free
After testing run, refer to the structure of all modes in P32 and return to option screen.
12.8 Alarm clear mode
12.8.1 How to enter the alarm clear mode
From the initial state of LED, press
five times to enter into auxiliary function mode. Press
MODE
to display
54
12.8.2 Execute alarm clear
SET
Press
to display
“ ”increaseswhile
keep pressing
(for approx. 5sec)
End
Alarm clear completes
Clear is not finished.
Release the error by resetting the power.
12.9 Automatic offset adjustment
12.9.1 How to enter the automatic offset adjustment mode
From the initial state of LED, press
five times to enter into auxiliary function mode. Press
MODE
to display
12.9.2 Execute automatic offset adjustment
SET
Press
to display
“ ”increaseswhile
keep pressing
(for approx. 5sec)
Adjustment finishes.
Automatic offset adjustment finishes.
Error occurs.
Invalid mode is selected, or offset
value exceeds the setup range of
Pr52.
Note:
 This function is invalid at position control mode.
 You cannot write the data only by executing automatic offset adjustment.
 Execute writing to EEPROM when you need to reflect the result afterward.
55
12.10
Alarm history clear
12.10.1How to enter the alarm history clear mode
From the initial state of LED, press
five times to enter into auxiliary function mode. Press
MODE
to display
12.10.2Execute the alarm history clear mode
SET
Press
to display
“ ”increaseswhile
keep pressing
(for approx. 5sec)
End
Alarm history clear finishes.
Note:
The function can clear the abnormal records.
56
13. Parameters
13.1 Introduction of Parameters
The driver provides parameters for setting features and functions to fit the different requirement of
users. The chapter will introduce the function of each parameter. Read it carefully and adjust parameters
to the best operating condition before application.
13.2 Setting Method
The setting method of parameters is as following:
1. Front panel of machine
2. Set up supporting software KSDTools in computer.
Note:
About the setting method of computer screen, refer to the manual of KSDTools.
13.3 Connection Method
57
13.4 Contents and List of parameters
Parameter No.
(Pr□□)
Type
Abstract
selection of control mode, designation of input/output
signal, setting of communication transition rate etc.
(first and second)servo gain of position, speed and
10 to 20
integral etc. or setting of time constant of all filters.
27 to 2B
External noise detector, CCW and CW torque control
Adjustment
offset etc.
30 to 3D
shift related setting of the first gain to the second gain.
setting of input form and direction of command pulse,
Position Control
40 to 4D
setting of division of output pulse of encoder and
setting of division rate of command pulse etc.
input gain setting, rotary limit setting and offset
50 to 5A
adjustment of speed commander, internal speed(1 to 4
74 to 77
level) setting and setting of accelerating/decelerating
Speed/Torque
time etc.
Control
input gain setting, rotary limit setting and offset
5B to 5E
adjustment of torque commander
setting of output signal detection condition of
in-position, zero speed attainment etc. while main
Process
60 to 6C
power off, alarm occurs and Servo OFF, speed down
operation or setting of release condition of differential
counter.
More information, refer to the parameter setting of all control modes.
Function Selection
00 to 0F
The introduction of marks of all modes is as following.
Setting value
Mark
Control Mode
Mark
of Pr02
P
position
control
0
P/S
S
speed control
1
P/T
T
torque control
2
S/T
Control Mode
Position(first)and
speed(second)
control
Position(first)and
torque(second)
control
Speed(first)and
torque(second)
control
Setting value
of Pr02
3＊
4＊
5＊
Note:
1. If 3, 4and 5 complex modes are set, one of the first and second modes can be chosen according
to control mode shift input (C-MODE).
-While C-MODE is broken circuit, the first mode is chosen
-While C-MODE is short circuit, the second mode is chosen.
2. 10ms before and after of shift change, don’t input other command.
58
13.4.1 Parameters for function selection
Parameter No.
Pre-set
Applicable
Function
Range
Unit
(Pr□□)
value
Mode
★ 00
(Used by Manufacturer)
★ 01
LED initial display state
0
All
0~13
★ 02
Control mode setting
0
All
0~5
P，S
03
analog torque limit
1
0~2
★ 04
Over-travel protection input
1
All
0~2
05
Internal/external speed selection 0
S
0~3
S，T
06
Invalid zero speed clamp
0
0~2
07
Speed monitor option
3
0~9
All
08
Torque monitor option
0
0~7
All
Output option during torque
09
0
0~4
All
limit
Output option of zero speed
0A
1
0~4
All
detection
Setting of RS232C
★ 0C
3
0~3
All
communication baud rate
● Modification of parameter No. marked with ★ will be effective only after control power is reset.
【】：Factory default value
★：Control power need be restarted while modifying parameters.
Pr01 LED Initial display★
Initial Value：【0】
Setting Range：0~13
Unit：–
Function：You can select the type of data to be displayed on the front panel LED (7 segment) at the
initial state
Power -ON
Flashes (for approx. 2 sec) during initialization
Setup value of Pr01
59
Set Value
【 0】
1
2
3
4
5
6
7
8
9
10
11
12
13
Contents
Position Deviation
Rotary Speed of Motor
Torque Output
Cont ol Mode
I/O Signal State
Abnormality Record
Software Version
Warning Notice
Regeneration Load Ratio
Overload Load Ratio
Inertia ratio
Sum of Feedback Pulse
Sum of Command Pulse
Analog Input Value
Pr02 Setting of control mode★
Initial Value：
【 0】
Setting Range：0~5
Unit：–
Function：You can set up the control mode to be used.
Control Mode
Setting Value
First Mode
Second Mode
【 0】
－
Position
－
1
Speed
－
2
Torque
3
Position
Speed
4
Position
Torque
5
Speed
Torque
If setting is a complex mode (Pr02=3,4,5), control mode shift input (C-MODE) is used to make shift
between first and second mode.
C-MODE
(OPEN)
(ON)
1st
(OPEN)
2nd
10ms or longer
3th
10ms or longer
Note:
Don't enter commands 10ms before/after switching. Neither position, speed nor torque instructions are
not allowed to input.
Pr03 Analog torque limit input
Initial Value：
【 1】
Setting Range：0~2
Unit：–
Function：You can set up the torque limiting method for CCW/CW direction.
If not using torque limit function, set Pr03 to “1”.
Use angle torque limit input (CCWTL：Pin16, CWTL：Pin18) CCWTL and CWTL will be limited by
Pr5E
Setting Value
CCW torque limit
CW torque limit
0
limit by Pin16 input
limit by Pin18 input
【 1】
limit by setting value of Pr5E
2
limit by setting value of Pr5E
limit by setting value of Pr5F
In torque control mode this parameter is invalid and CCW/CW torque limited by setting value of
Pr5E.
60
Pr04 Over-travel limit input★
Initial Value：【1】
Setting Range：0~2
Unit：–
Function：In linear drive application, you can use this over-travel limit function to inhibit the motor to
run to the direction specified by limit switches which are installed at both ends of the axis, so that you
can prevent the work load from damaging the machine due to the over-travel. With this input, you can
set up the action of over-travel protection input.
CW direction
Work
CCW direction
Driver
Limit
switch
Servo motor
Limit
switch
CCW-LIMIT
CW-LIMIT
Set
Value
CCW-LIMIT/
CW-LIMIT
Input
Input
CCW-LIMIT
(CN I/F,Pin-9)
0
Valid
CW-LIMIT
(CN I/F,Pin-8)
【 1】
Invalid
2
Valid
Connect
COM-
Action
Close
Close normal state of limit switch in the end
of CCW
Open
CCW is prohibited
Close
Close normal state of limit switch in the end
of CW
Open
CW is prohibited
Ignore CCW-LIMIT/CW-LIMIT input，over-travel protection function is
invalid
If one of CCW/CW inhibition inputs is open circuit with COM-,
Err38(Over-travel protection) occurs.
Note:
1. When Pr04 setting is 0 and over-travel protection input is valid, program set by Pr66(Sequence
at over-travel protection input) is used to make speed-down and cease. For detail, refer to
instruction of Pr66.
2. If Pr04 setting is 0 and CCW-LIMIT and CW-LIMIT input is open meanwhile, driver is judged
as abnormal state, Err38(Run-inhibition input protection) will occur.
3. When you turn off the limit switch on upper side of the work at vertical axis application, the
work may repeat up/down movement because of the loosing of upward torque. In this case, set
up Pr66 to 2, or limit with the host controller instead of using this function.
61
Pr05 Speed selection mode
Initial Value：【0】
Setting Range：0~3
Unit：–
Function：This driver is equipped with internal speed setting function so that you can control the speed
with contact inputs only.
 Set the validity of internal speed setting.
 8 types of internal speed. Their instruction data are setting by Pr53（1st speed）、Pr54（2nd
speed）,Pr55（3rd speed）,Pr56（4th speed）,Pr74（5th speed）,Pr75（6th speed）,Pr76（7th speed）
and Pr77（8th speed）
 PULS-INH（CN I/F，Pin-33,）CLR（CN I/F，Pin-30, DIV（CN I/F，Pin-28）are external selection
input. The combination results are shown as follows.
PULS-INH CLR
DIV
(Pin-33) (Pin-30) (Pin-28)
OFF
OFF
OFF
ON
OFF
OFF
OFF
ON
OFF
ON
ON
OFF
OFF
OFF
ON
ON
OFF
ON
OFF
ON
ON
ON
ON
ON
0
Analog speed
command
(CN I/F，Pin-14)
Analog speed
command
(CN I/F，Pin-14)
Analog speed
command
(CN I/F，Pin-14)
Analog speed
command
(CN I/F，Pin-14)
Analog speed
command
(CN I/F，Pin-14)
Analog speed
command
(CN I/F，Pin-14)
Analog speed
command
(CN I/F，Pin-14)
Analog speed
command
(CN I/F，Pin-14)
Pr05 Setting Value
1
2
3
1st speed of
1st speed of
1st speed of
internal speed internal speed
internal speed
（Pr53）
（Pr53）
（Pr53）
nd
nd
2
speed of
2
speed of
2nd speed of
internal speed internal speed
internal speed
（Pr54）
（Pr54）
（Pr54）
rd
rd
3
speed of
3
speed of
3rd speed of
internal speed internal speed
internal speed
（Pr55）
（Pr55）
（Pr55）
th
4 speed of
Analog speed
4th speed of
internal speed command
internal speed
（Pr56）
(CN I/F，Pin-14) （Pr56）
st
1 speed of
1st speed of
5th speed of
internal speed internal speed
internal speed
（Pr53）
（Pr53）
（Pr74）
nd
nd
2
speed of
2
speed of
6th speed of
internal speed internal speed
internal speed
（Pr54）
（Pr54）
（Pr75）
rd
rd
3
speed of
3
speed of
7th speed of
internal speed internal speed
internal speed
（Pr55）
（Pr55）
（Pr76）
th
4 speed of
Analog speed
8th speed of
internal speed command
internal speed
（Pr56）
(CN I/F，Pin-14) （Pr77）
62

4 speed examples using internal speed instruction.
 Set Pr05=1 (4 speed by external switch)
 Set Pr06=1 (ZERO-SPD as run/stop control input)
 Use PULS-INH and CLR as speed selection input
Pr06 Selection of ZERO-SPD input
Initial Value：
【 0】
Setting Range：0~2
Unit：–
Function：Set zero speed clamp input (ZERO-SPD： CN I/F PIN 26） .
Setting Value
【 0】
1
2
ZERO-SPD Input（PIN 26）
Ignore ZERO-SPD input.
ZERO-SPD input; if open with COM-, speed
command is 0 (stop) else run.
Direction input; If open with COM-, speed
command direction is CCW; if keeping short circuit
with COM-, speed direction is CW.
63
Pr07 Selection of speed monitor (SP)
Initial Value：
【 3】
Setting Range：0~9
Unit：–
Function：Make choice and set the relation voltage to speed monitor signal output (SPM:CN I/F PIN 43)
of motor’s actual speed and command speed.
Setting Value
【 0】
1
2
3
4
5
6
7
8
9
SPM Signal
Motor speed
Command speed
Relation Between Output Voltage Level and Speed
6V/375rpm
6V/750rpm
6V/1500rpm
6V/3000rpm
6V/6000rpm
6V/375rpm
6V/750rpm
6V/1500rpm
6V/3000rpm
6V/6000rpm
Pr08 Selection of torque monitor (TM)
Initial Value：【0】
Setting Range：0~7
Unit：–
Function：Set relation between output level of analog torque monitor signal(TM:CN I/F,PIN 42) or
deviation pulse number.
Setting Value
【 0】
1
2
3
4
5
6
7
TM Signal
Torque
Position Deviation
Relation Between Output Level and TM
or Deviation Pulse Number
3V/100%
3V/200%
3V/300%
3V/31p
3V/125p
3V/500p
3V/2000p
3V/8000p
64
Pr09 Selection of TLC output
Initial Value：【0】
Setting Range：0~4
Unit：–
Function：Assign the functions of TLC output (TLC: CN I/F PIN 40).
Setting
Value
0
1
2
3
4
Function
Output during torque limit
Zero speed detection output
regeneration Warning output
Over- regeneration warning output
Overload warning output
Mark of
Signal
TLC
ZSP
WARN ALL
WARN REG
WARN OL
Pr0A Selection of ZSP output
Initial Value：【0】
Setting Range：0~4
Unit：–
Function：Function of ZSP output (ZSP:CN I/F PIN 12).
Setting
Mark of
Function
Value
Signal
0
Output during torque limit
TLC
1
Zero speed detection output
ZSP
2
regeneration Warning output
WARN ALL
3
Over- regeneration warning output
WARN REG
4
Overload warning output
WARN OL
Pr0C Baud rate setting of RS232 communication★
Initial Value：
【 3】
Setting Range：0~3
Unit：–
Function：You can set up the communication speed of RS232.
Setting Value
Baud
0
19200bps
1
38400bps
2
57600bps
3
115200bps
65
TLC output condition
Torque command in Torque limit
Speed lower than Pr61
regeneration higher or overload
regeneration more than 85%
Load more than 85%
TLC output condition
Torque command in Torque limit
Speed lower than Pr61
regeneration higher or overload
regeneration more than 85%
Load more than 85%
13.4.2 Parameters for adjustment of time constants of gain and filters
Parameter
No.(Pr□□)
10
11
12
13
14
15
16
18
19
1A
1B
1C
1D
1E
20
21
22
25
27
28
29
2A
Pre-set
value
First position loop gain
47
First speed loop gain
36
Time constant of first speed loop integral 28
First speed detection filter
0
Time constant of first torque filter
65
Speed feed-forward
300
Time constant of speed feed-forward
50
filter
Second position loop gain
54
Second speed loop gain
36
Time constant of second speed loop
130
integral
Second speed detection filter
0
Time constant of second torque filter
65
First notch filter frequency
1600
First notch filter width
4
Inertia ratio
0
Real-time Auto-gain
0
Real-time Auto-gain stiffness
4
Off-line Auto-gain
0
External noise detection
0
Second external noise filter
1600
Second external noise filter width
2
Second external noise filter depth
0
Function
1~2000
1~3500
0~1000
0~5
25~2500
0~1500
Applicable
Mode
1/S
P
Hz
All
0.01ms All
All
0.01ms All
0.1%
P
0~6400
0.01ms P
1~2000
1~3500
1/S
Hz
P
All
0~1000
ms
All
0~5
25~2500
50~1600
0~4
0~10000
0~7
0~15
0~7
0~8
100~1600
0~4
0~99
0.01ms
Hz
Hz
-
All
All
All
All
All
All
All
All
All
All
All
All
Range
Unit
PR10 1st position loop gain
Initial Value：【47】
Setting Range：1~2000
Unit：1/s
Function：You can determine the response of the positional control system. The higher gain of position
loop you set, the faster positioning time you can obtain. Note that gain too high may cause oscillation.
Pr11 1st velocity loop gain
Initial Value：【36】
Setting Range：1~3500
Unit：Hz
Function：You can determine the response of the velocity loop. In order to increase the response of
overall servo system by setting high position loop gain; you also need setting of higher velocity loop
gain as well. However, too high setting may cause oscillation.
66
Pr12 1st time constant of velocity loop integration
Initial Value：【28】
Setting Range：1~1000
Unit：ms
Function：You can set up the integration time constant of velocity loop. Smaller the setting, faster you
can dock-in deviation at stall to 0.The integration will be maintained by setting to "999". The integration
effect will be lost by setting to "1000".
Pr13 1st speed detection filter
Initial Value：【0】
Setting Range：0~5
Unit：–
Function：You can set up the time constant of the low pass filter (LPF) after the speed detection, in one
of 6 steps. Higher the setting, larger the time constant you can obtain so that you can decrease the motor
noise, however, response becomes slow. Use with a default value of 0 in normal operation.
Pr14 1st time constant of torque filter
Initial Value：【65】
Setting Range：25~2500
Unit：0.01ms
Function：Set time constant of time delay filter in the torque command section.
Pr15 Velocity feed forward
Initial Value：【300】
Setting Range：0~1500
Unit：0.1%
Function：Set up the velocity feed forward percentage at position control loop. Higher the setting,
smaller position deviation and better response you can obtain, however this might cause an overshoot.
Pr16 Time constant of feed forward filter
Initial Value：
【 50】
Setting Range：0~6400
Unit：0.01ms
Function：Set up the time constant of 1st delay filter in velocity feed forward loop. You might expect to
improve the overshoot or noise caused by larger setting of velocity feed forward (Pr15).
Pr18 2 nd position loop gain
Initial Value：
【 54】
Setting Range：1~2000
Unit：1/s
Function：There are 2 sets of position loop, velocity loop, speed detection filter and torque command
filter. The 2nd set has the same property and function as 1st one. Refer Pr10. for more detail.
67
Pr19 2nd velocity loop gain
Initial Value：【36】
Initial Value：
【 36】
Setting Range：1~3500
Unit：Hz
Function：Refer to Pr11
Pr1A 2nd time constant of velocity loop integration
Initial Value：
【 130】
Setting Range：1~1000
Unit：ms
Function：Refer to Pr12
Pr1B 2nd speed detection filter
Initial Value：
【 0】
Setting Range：0~5
Unit：–
Function：Refer to Pr13
Pr1C 2nd time constant of torque filter
Initial Value：
【 65】
Setting Range：25~2500
Unit：0.01ms
Function：Refer to Pr14
Pr1D 1st notch filter frequency
Initial Value：
【 1600】
Setting Range：50~1600
Unit：Hz
Function：Set up the frequency of the 1st resonance suppressing notch filter. The notch filter function
will be invalidated by setting up this parameter to"1600".
Pr1E 1st notch width selection
Initial Value：【4】
Setting Range：0~4
Unit：–
Function：Set up the notch filter width of the 1st resonance suppressing filter in one of 5 steps. Higher
the setting, larger the notch width you can obtain. Use with default setting in normal operation.
68
Pr20 Inertia ratio
Initial Value：
【 0】
Setting Range：0~10000
Unit：%
Function：You can set up the ratio of the load inertia against the rotor (of the motor) inertia.
Pr20 = (load inertia/rotor inertia) x 100 [%]
Note:
If the inertia ratio is correctly set, the setting unit of Pr11 and Pr19 becomes (Hz). When the inertia
ratio of Pr20 is larger than the actual, the setting unit of the velocity loop gain becomes larger, and when
the inertia ratio of Pr20 is smaller than the actual, the setting unit of the velocity loop gain becomes
smaller.
Pr21 Real time auto gain
Initial Value：
【 0】
Setting Range：0~7
Unit：–
Function：Set up the action mode of the real-time auto-gain tuning. With higher setting such as 3 or 6,
the driver responds quickly to the change of the inertia during operation, however it might cause an
unstable operation. Use 1 or 4 for normal operation. For the vertical axis application, use with the setting
of 4 to 6.
Setting Value
【 0】
1
2
3
4
5
6
7
Real-time auto-gain
Turn off
Load inertia
Slower learning rate
Almost no change
Normal learning rate
Change moderately
Fast learning rate
Fast changes
Setting is "0", it will turn off real-time auto-gain adjustment function.
Pr22 real time auto-gain stiffness
Initial Value：【0】
Setting Range：0~15
Unit：%
Function：Set up the machine stiffness in one of 16 steps while the real-time auto gain tuning is valid.
Machine stiffness
0
Servo gain
15
low
high
Note:
As the stiffness changed, the servo gain changed as well and this may damage to the machine
owing to overshoot or oscillation. Increase the setting from 0 to 15 gradually and watch the movement of
the machine until machine stable.
69
Pr25 Off line auto gain
Initial Value：【0】
Setting Range：0~7
Unit：%
Function：Set up the action pattern at the off-line auto-gain tuning.
When the setting is 0, the motor turns 2 revolutions to CCW after 2 revolutions to CW, 5 times of
execution.
Setting Value
Rotational direction
Number of revolution
【 0】
CCW → CW
2 revolution(CCW → CW)
1
CW → CCW
2 revolution(CW → CCW)
2
CCW →
2 revolution( only CCW )
3
CW →
2 revolution( only CW )
4
CCW → CW
1 revolution(CCW → CW)
5
CW → CCW
1 revolution(CW → CCW)
6
CCW →
1 revolution( only CCW )
7
CW →
1 revolution( only CW )
Pr27 External noise observer
Initial Value：【0】
Setting Range：0~8
Unit：–
Function：Set compensation value of external torque noise observer to improve stability of speed loop.
The higher compensation value, the faster response it will be. However, large setting value can easily
cause resonance noise.
※If load mechanism is the mechanism with intensely changing inertia, this function is not suitable to
use and shall be set to 0.
Pr28 2nd external noise filter
Initial Value：【1600】
Setting Range：100~1600
Unit：Hz
Function：The second external Noise filter frequency setting.
Pr29 2nd external noise filter width
Initial Value：【2】
Setting Range：0~4
Unit：Function：The second external Noise filter width in one of 5 step setting.
Higher the setting, larger the notch width you can obtain. Use with default setting in normal operation.
Pr2A 2nd external noise filter depth
Initial Value：【0】
Setting Range：0~99
Unit：Function：Set up the second external noise filter depth of the resonance suppressing filter. Higher the
setting, shallower the notch depth and smaller the phase delay you can obtain.
70
13.4.3 Parameters for adjustment of 2nd gain
Parameter
Pre-set
Function
No.(Pr□□)
Value
30
Second gain action setting
0
31
Position control shift mode
7
32
Position control shift delay time 5
33
Position control shift level
100
34
Position control shift width
30
Range
0~1
0~8
0~10000
0~10000
0~10000
35
Position gain shift time
4
0~10000
36
37
38
39
3A
3B
3C
3D
Speed control shift mode
Speed control shift delay time
Speed control shift level
Speed control shift width
Torque control shift mode
Torque control shift delay time
Torque control shift level
Torque control shift width
0
0
0
0
0
0
0
0
0~5
0~10000
0~10000
0~10000
0~3
0~10000
0~10000
0~10000
Unit
ms
(set
value+1)ms
ms
ms
-
Applicable
Mode
All
P
P
P
P
P
S
S
S
S
T
T
T
T
Pr30 setting of 2nd gain
Initial Value：【0】
Setting Range：0~1
Unit：–
Function：You can select the PI/P action switching of the velocity control or 1st/2nd gain switching.
Setting Value
Gain Option and shift
0
1st gain (PI/P switching enabled)
1
1st/2nd gain switching enabled
Switch the PI/P action with the gain switching input (Pin-27).
GAIN Input
Speed Loop Action
Open with COMPI Action
Connection with COM- P Action
71
Pr31 1st mode of control switching
Initial Value：【7】
Setting Range：0~8
Unit：–
Function：You can select the switching condition of 1st gain and 2nd gain while Pr30 is set to 1.
Setting Value
0
1
2
3
4
5
6
7
8
Gain Shift Condition
Fix to the 1st gain.
Fix to the 2nd gain.
As gain switch input（GAIN）is ON, select 2nd gain (Pr30 set to 1).
2nd gain selection when the toque command variation is larger than the settings
of Pr33 (1st level of control switching) and Pr34 (1st hysteresis of control
switching).
Fixed to the 1st gain.
2nd gain selection when the command speed is larger than the settings of Pr33
(1st level of control switching) and Pr34 (1st hysteresis at control switching).
2nd gain selection when the position deviation is larger than the settings of Pr33
(1st control switching level) and Pr34 (1st hysteresis of control switching).
2nd gain selection when more than one command pulse exist
2nd gain selection when the position deviation counter value exceeds the setting
of
Pr60 (Positioning complete range).
Pr32 1st delay time of control switching
Initial Value：【5】
Setting Range：0~10000
Unit：ms
Function：You can set up the delay time when returning from the 2nd to the 1st gain, while Pr31 is set to
3、5、6、7、8.
Pr33 1st level of control switching
Initial Value：【100】
Setting Range：0~10000
Unit：–
Function：It is valid as Pr31 is set to 3, 5, 6, 7, 8. It determines the level of first/second gain shift.
72
Pr34 1st hysteresis of control switching
Initial Value：【30】
Setting Range：0~10000
Unit：–
Function：Set up hysteresis range above/below the comparison level which is set up with Pr33. Unit
varies depending on the setting of Pr31 (1st control switching mode). Definitions of Pr32 (Delay), Pr33
(Level) and Pr34 (Hysteresis) are explained in the fig. below.
Pr33
Pr 34
0
1st gain
1st gain
2 nd gain
Pr 32
Pr35 Switching time of position gain
Initial Value：【4】
Setting Range：0~10000
Unit：ms
Function：Setting the step-by-step switching time to the position loop gain only at gain switching while
the 1st and the 2nd gain switching is valid.
Switching time= (setting value+1) ms
e.g.)
1ms
1ms
1ms
1ms
Kp1(Pr10) < Kp2(Pr18)
Kp2(Pr18)
Pr35 =
0
0
1
3
1
2
2
3
bold line
thin line
Kp1(Pr10)
1st gain
2nd gain
1st gain
Note:
The switching time is only valid when switching from small position gain to large position gain.
73
Pr36 Speed control shift mode
Initial Value：【0】
Setting Range：0~5
Unit：–
Function：In speed control mode, make choice to the shift condition of first/second gain. It's the content
that eliminates position control section in Pr31(Position control shift mode).
Setting Value
0
1
2
3
4
5
Gain Shift Condition
Fix to First Gain
Fix to Second Gain
As gain switch input（GAIN）is ON, select 2nd gain (Pr30 set to 1).
2nd gain selection when the toque command variation is larger than the
settings of Pr33 (1st level of control switching) and Pr34 (1st hysteresis of
control switching).
Fix to First Gain
2nd gain selection when the command speed is larger than the settings of
Pr33 (1st level of control switching) and Pr34 (1st hysteresis at control
switching).
Pr37 2nd delay time of control switching
Initial Value：【0】
Setting Range：0~10000
Unit：ms
Function：The content is same with following ones in position control mode.
Pr32：Shift delay time
Pr33：Shift level
Pr34：Shift level width
Pr38 2nd level of controls witching
Initial Value：【0】
Setting Range：0~10000
Unit：–
Function：Refer to Pr32, Pr33, Pr34
Pr39 2nd hysteresis of control switching
Initial Value：【0】
Setting Range：0~10000
Unit：–
Function：Refer to Pr32, Pr33, Pr34
74
Pr3A 1st mode of control switching
Initial Value：【0】
Setting Range：0~3
Unit：–
Function：You can select the switching condition of 1st gain and 2nd gain while Pr31 is set to 1.
Setting Value
Gain Shift Condition
0
Fix to First Gain
1
Fix to Second Gain
2
As gain shift input（GAIN）is ON, select 2nd gain (Pr30 must be set to 1).
2nd gain selection when the toque command variation is larger than the
3
settings of Pr33 (1st level of control switching) and Pr34 (1st hysteresis
of control switching).
Pr3B Torque control shift delay time
Initial Value：【0】
Setting Range：0~10000
Unit：ms
Function：The content is same with following ones in position control mode.
Pr32：Shift delay time
Pr33：Shift level
Pr34：Shift level width
Pr3C Torque control shift level
Initial Value：【0】
Setting Range：0~10000
Unit：–
Function：Refer to Pr3B
Pr3D Torque control shift level width
Initial Value：【0】
Setting Range：0~10000
Unit：–
Function：Refer to Pr3B
75
13.4.4 Parameters for position control
Parameter
Pre-set
Applicable
Function
Range
Unit
No.(Pr□□)
Value
Mode
★ 40
Command pulse input option
0
0~1
P
★ 41
Command pulse reverse
0
0~1
P
★ 42
Pulse input mode setting
1
0~3
P
43
Invalid input command pulse inhibition
1
0~1
P
★ 44
Output pulse pre-division of every reversion 0
1~255
P
★ 45
Feedback pulse output logic RP
0
0~1
P
46
First instruction electric gear numerator
1
1~10000 P
47
Second instruction electric gear numerator
1
1~10000 P
★ 48
FIR smooth setting
0
0~3
P
4A
Electric gear numerator rate
0
0~17
P
4B
Electric gear denominator
1
1~10000 P
4C
Smooth filter setting
1
0~7
P
4D
Counter clearance input mode
1
0~2
P
★ 4E
Numerator of pulse output division
10000
1~10000 All
★ 4F
Denominator of pulse output division
1
1~255
All
● Modification of parameter No. marked with ★ will be effective only after control power is reset.
Pr40 ★ Selection of command pulse input
Initial Value：【0】
Setting Range：0~1
Unit：–
Function：You can select either the photo-coupler input or the exclusive input for line driver as the
command pulse input.
Setting Value
【 0】
1
Content
Photo-coupler input (I/F PULS1:Pin-3, PULS2:Pin-4, SIGN1:Pin-5,
SIGN2:Pin-6)
Exclusive input for line driver (I/FPULSH1:Pin-44, PULSH2:Pin-45,
SIGNH1:Pin-46, SIGNH2:Pin-47)
Note:
Photo-coupler input command frequency ≦500kpps
Exclusive input for line driver command frequency ≦2Mpps
76
Pr41 ★ Command pulse to rotation direction
Initial Value：【0】
Setting Range：0~1
Unit：–
Function：You can set up the rotational direction against the command pulse input, and the command
pulse input format.
Pr41
setup
value
Pr42
setup
value
CCW command
t1
0 or 2
PULS
SIGN
CW command
t1
t1
t1
A-phase
B-phase
t1
t1
t1
B-phase advances to A by 90°.
t1
B-phase delays from A by 90°.
t3
【0】
【1】
PULS
SIGN
t2
PULS
t2
t4
t5
t2
t4 t5
3
t2
“L”
SIGN
“H”
t6
t6
t1
t6
t1
t1
t6
t1
A-phase
0 or 2
PULS
SIGN
B-phase
t1
t1
t1
t1
B-phase advances to A by 90°.
B-phase delays from A by 90°.
t3
【1】
【1】
PULS
t2
t2
SIGN
t2
PULS
t4
3
t4
t5
t5
“L”
“H”
SIGN
t2
t6
t6
t6
t6
•Permissible max. input frequency, and min. necessary time width of command pulse input signal.
Permissible
Min. necessary time width
Input I/F of PULS/SIGN signal
max. input
t1
t2
t3
t4
t5
t6
frequency
Pulse train interface exclusive to line driver
2Mpps
500ns 250ns 250ns 250ns 250ns 250ns
Line driver interface
500kpps
2µs
1µs
1µs 1µs 1µs 1µs
Pulse train interface
Open collector interface 200kpps
5µs
2.5µs 2.5µs 2.5µs 2.5µs 2.5µs
Make the rising/falling time of the command pulse input signal to 0.1μs or smaller.
Note: Pr41=0,
Pr42=0 or 2 Command pulse format is 90° phase difference 2-phase pulse(A + B-phase)
Pr42=1
Command pulse format is CW pulse train + CCW pulse train
Pr42=3
Command pulse format is pulse train + direction signal
Pr41=1 will invert the above setting of Pr42
77
Pr42 ★ Setting of command pulse input mode
Initial Value：【1】
Setting Range：0~3
Unit：–
Function：refer description of Pr41
Pr43 Enable/disable command pulse inhibit input
Initial Value：【1】
Setting Range：0~1
Unit：–
Function：You can select either the enable or the disable of the command pulse inhibit input (INH : CN
I/F Pin-33).
Setting Value
PULS-INH Input
0
Valid
1
Invalid
Command pulse input will be inhibited by opening the connection of INH input to COM. When you do
not use INH input, set up Pr43 to 1 to invalid the function that you do not need to connect INH (CN I/F
Pin-33) and COM– (Pin-41).
Pr44 ★ Output pulse pre-division of every revolution
Initial Value：【0】
Setting Range：0~225
Unit：–
Function：Set pre-division of one revolution pulse number of encoder pulse input to upper-level device.
Pulse output per revolution = Encoder resolution / Pr44
When Pr44≠0，Pr4E、Pr4F setting is invalid.
Pr45 ★ Normal/invert of pulse output
Initial Value：【0】
Setting Range：0~1
Unit：–
Function：You can set up the B-phase logic and the output source of the pulse output (I/F OB+: Pin-48,
OB– : Pin-49). With this parameter, you can change lead/lag of the phase relation between the A-phase
and the B-phase by inverting the B-phase logic.
at motor CCW rotation
Setting value
A-phase (OA)
0
B-phase(OB) normal
1
B-phase(OB) invert
78
at motor CW rotation
Pr46 1st numerator of electronic gear
Initial Value：【1】
Setting Range：1~10000
Unit：–
Function：Electronic gear (Command pulse division/multiplication) function
• Purpose of this function
(1) You can set up any motor revolution and travel distance per input command unit.
(2) You can increase the nominal command pulse frequency when you cannot obtain the
required speed due to the limit of pulse generator of the host controller.
• Block diagram of electronic gear
The upper limit of numerator is 2621440. If setting value is over upper limit, then numerator value
will be limited to 2621440.
Command * 1 1st numerator(Pr46)
pulse
* 1 2nd numerator(Pr47)
Multiplier （ Pr 4 A ）
Internal
command
＋
F－
×2
ƒ
Denominator (Pr4B)
Feed back
pulse
(Resolution )
Deviation
counter
10000ppr
or
17
2
ppr
“Numerator" selection of electronic gear
Select the 1st or the 2nd with the command electronic gear input switching (DIV : CN
I/F, Pin-28)
Selection of 1st numerator（Pr46）
DIV input open
DIV input connect to
Selection of 2nd numerator（Pr47）
COM–
Setting example when numerator≠0
Take Mokon-K servo motor with 10,000ppr encoder (in general condition)
• If division/multiplication ratio=1, it is essential to keep the relationship in which the motor
turns one revolution with the command input (f) of the encoder resolution; ie. 10,000 pulses
will run one revolution.
• If you want to enter the input of f=5,000pulses to run one revolution, set the
division/multiplication ratio=2
• If you set division/multiplication ratio= ¼ then you need to apply 10,000*4 pulses to run
one revolution.
• Set up Pr46, 4A and 4B so that the internal command (F) after division / multiplication may equal to
the encoder resolution (10000 or 217).
F=f×
Pr46 × 2 Pr4A
Pr4B
= 10000 or 2
17
F：Internal command pulse counts per motor one revolution
f：Command pulse counts per one motor revolution.
79
Encoder resolution
Example 1
when making the
command input (f) as
5000 per one motor
revolution
Example 2
when making the
command input (f) as
40000 per one motor
revolution
217 (131072)
Pr46 1 × 2
Pr4B
Pr4A
17
Pr46 10000 × 2
Pr4B
5000
Pr4A
0
Pr46 10000 × 2
Pr4B
10000 (2500 ppr × 4)
Pr4A
0
5000
Pr46 2500 × 2
Pr4A
0
Pr4B 10000
5000
Pr47 | 2nd numerator of electronic gear
Initial Value：【1】
Setting Range：1~10000
Unit：–
Function：Refer to Pr46
Pr 48 ★ Setting of FIR smoothing
Initial Value：【0】
Setting Range：0~3
Unit：–
Function：You can set up the moving average times of the FIR filter covering the command pulse.
(Setting value + 1) become average travel times.
Pr4A Multiplier of electronic gear numerator
Initial Value：【0】
Setting Range：0~17
Unit：–
Function：Refer to Pr46
Pr4B denominator of electronic gear
Initial Value：【1】
Setting Range：1~10000
Unit：–
Function：Refer to Pr46
80
Pr4C Steup of primary delay smoothing
Initial Value：【1】
Setting Range：0~7
Unit：–
Function：Smoothing filter is the filter for primary delay which is inserted after the electronic gear.
Purpose of smoothing filter
• Reduce the step motion of the motor while the command pulse acceleration/deceleration
rate is rough.
• Actual examples which cause rough command pulse are;
(1) when you set up a high multiplier ratio (10 times or more).
(2) when the command pulse frequency is low.
You can set the time constant of the smoothing filter in 8 steps with Pr4C.
Setting value
Time Constant
0
No filter function
1
Time constant small
↓
↓
7
Time constant large
Pr4D Counter clear input mode
Initial Value：【0】
Setting Range：0~2
Unit：–
Function：You can set up the clearing conditions of the counter clear input signal which clears the
deviation counter.
Setting Value
0
1
2
Clearing condition
Clears the deviation counter at level (shorting for longer than 100us)
Clears the deviation counter at falling edge (open for longer than 100us)
Invalid
Pr4E ★Numerator of pulse output division
Initial Value：【10000】
Setting Range：1~10000
Unit：Function：You can set up the pulse counts to be fed out from the pulse output (CN I/F 0A+ : Pin-21, 0A- :
Pin-22, 0B+ : Pin-48, 0B- : Pin-49).
•When Pr44≠0，Pr4E、Pr4F setting is invalid.
81
Pr4F ★ Denominator of pulse output division
Initial Value：
【 1】
Setting Range：1~255
Unit：Function：Refer to Pr4E
Pr44=0 (Default)
The pulse output resolution per revolution can be divided by any ratio according to the formula as
follows.
Pulse output resolution per revolution=
Pr4E(Numer
Pr4F(Denom
ator of pulse output division)
x encoder resolution per revolution
inator of pulse output division)
Note:
• The encoder resolution is 10000 ppr for the 2500ppr incremental encoder.
• The pulse output resolution per revolution cannot be greater than the encoder resolution. (In the above
setting, the pulse output resolution equals to the encoder resolution.)
• Z-phase is fed out once per revolution of the motor.
82
13.4.5 Parameters for velocity and torque control
Parameter
Pre-set
Function
Range
No.(Pr□□)
Value
50
Speed control input gain
500
10~2000
51
Speed control input reverse
1
0~1
52
Speed control offset
0
-2047~2047
53
First of speed setting
0
-10000~10000
54
Second of speed setting
0
-10000~10000
55
Third of speed setting
0
-10000~10000
56
Fourth of speed setting
0
-10000~10000
74
Fifth of speed setting
0
-10000~10000
75
Sixth of speed setting
0
-10000~10000
76
Seventh of speed setting
0
-10000~10000
77
Eighth of speed setting
0
-10000~10000
57
Jog speed setting
200
1~2000
58
Acceleration time setting
0
0~10000
59
Deceleration time setting
0
0~10000
Sigmoid acceleration/
5A
0
0~1000
deceleration time setting
5B
Torque command select
0
0~1
5C
Torque control input gain
30
10~100
5D
Torque control input reverse
0
0~1
5E
First torque limit setting
300
0~300
5F
Second torque limit setting
300
0~300
83
Applicable
Mode
S，T
rpm/V
S
S，T
0.3mV
rpm
S
rpm
S
rpm
S
S，T
rpm
rpm
S
rpm
S
rpm
S
rpm
S
rpm
All
1ms/(1000rpm) S
1ms/(1000rpm) S
Unit
2ms
S
0.1V/100%
%
%
T
T
T
All
All
Pr50 Input gain of speed command
Initial Value：【500】
Setting Range：10~2000
Unit：rpm/V
Function：You can set up the relation between the voltage applied to the speed command input (SPR :
CN I/F, Pin-14) and the motor speed.
• You can set up a "slope" of the relation between the command input voltage and the motor
speed, with Pr50.
• Default is set to Pr50=500 rpm/V, hence input of 6V becomes 3000rpm.
Speed CCW
Rated speed
Slope atex-factory
Command inputvoltage (V)
-10 -6
2 4 6 810
Rated speed
CW
Note:
1. Do not apply more than ±10V to the speed command input (SPR).
2. When you use the driver in velocity control mode and the whole system doing position
control under position controller, the larger setting value of Pr50 gives larger variance to
the overall servo system. (Normally, the position controller use 10V to rated speed)
Pay an extra attention to oscillation caused by larger setting of Pr50.
84
Pr51 Reversal of speed command input
Initial Value：【1】
Setting Range：0~1
Unit：Function：You can reverse the polarity of the speed command input signal (SPR:CN I/F, Pin-14). Use
this function when you want to change the motor rotational direction without changing the polarity of
the command signal from the host.
Setting Value
Rotation Direction of Motor
0
CCW direction with (+) command (viewed from the motor shaft end)
1
CW direction with (+) command (viewed from the motor shaft end)
Note:
• Default of this parameter is 1, and the motor turns to CW with (+) signal.
• When Pr06 (ZEROSPD) is set to 2, this parameter becomes invalid.
Warning:
When you compose the servo drive system with this driver set to velocity control mode with
external positioning controller, motor might perform an abnormal action if the polarity of the speed
command signal from the unit and the polarity of this parameter setting does not match.
Pr 52 Speed command offset
Initial Value：【0】
Setting Range：-2047~2047
Unit：0.3mV
Function：You can make an offset adjustment of analog speed command (SPR :CN I/F, Pin-14) with this
parameter.
• The offset volume is 0.3mV per unit value of speed command offset.
• There are 2 offset methods, (1) Manual adjustment and (2) Automatic adjustment.
1) Manual adjustment
• When you make an offset adjustment with the driver alone, enter 0 V exactly to the speed
command input (SPR/TRQR), (or connect to the signal ground), then set this parameter up
so that the motor may not turn.
• when you compose a position loop with a host positioning controller, set this parameter up
so that the deviation pulse may be reduced to 0 at the Servo-Lock status.
2) Automatic adjustment
• For the details of operation method at automatic offset adjustment mode, refer to
12.9 Automatic offset adjustment.
• Result after the execution of the automatic offset function will be reflected in this parameter,
Pr52.
85
Pr53 1st speed of speed setting
Initial Value：【0】
Setting Range：-10000~10000
Unit：rpm
Function：When the internal speed setting is validated with parameter Pr05, "Switching of internal or
external speed setting", you can set up 1st to 4th speed into Pr53 to 56, 5th to 8th speed into Pr74 to 77
in direct unit of [rpm]
In torque control mode, Pr56 becomes the speed limit.
Note:
• The polarity of the setting value represents that of the internal command speed.
＋
－
Command to CCW (viewed from the motor shaft end)
Command to CW (viewed from the motor shaft end)
Pr54 2nd speed of speed setting
Initial Value：【0】
Setting Range：-10000~10000
Unit：rpm
Function：Refer to Pr53
Pr55 3rd speed of speed setting
Initial Value：【0】
Setting Range：-10000~10000
Unit：rpm
Function：Refer to Pr53
Pr56 4th speed of speed setting
Initial Value：【0】
Setting Range：-10000~10000
Unit：rpm
Function：Refer to Pr53
Pr57 JOG speed setting
Initial Value：
【 200】
Setting Range：1~2000
Unit：rpm
Function：You can setting the JOG speed.
Refer to P53 12.7.1 Inspection Before Trial Run.
86
P58 Acceleration time setting
Initial Value：【0】
Setting Range：0~10000
Unit：1ms/ (1000rpm)
Function：You can make the velocity control while adding acceleration and deceleration command to the
speed command inside of the driver. With this function, you can make a soft-start when you enter the
step-speed command and when you use with the internal speed setting.
Speedcommand
Speed
ta
td
ta
td
Pr58 x 1ms/1000rpm
Pr59 x 1ms/1000rpm
Note:
When using external position controller, please set Pr58 and Pr59 to 0, the acceleration and deceleration
control leave to the position controller.
Pr59 Deceleration time setting
Initial Value：【0】
Setting Range：0~10000
Unit：1ms/ (1000rpm)
Function：Refer to Pr58
Pr5A S-curve acceleration/deceleration time setting
Initial Value：【0】
Setting Range：0~1000
Unit：2ms
Function：In order to obtain a smooth operation, you can set up the S-curve profile
acceleration/deceleration to smooth to possible acceleration/deceleration shock of linear
acceleration/deceleration profile.
S
p
e
e
d
ts
ts
ta
ts
ts
td
ta：Pr58 td：Pr59 ts：Pr5A
1. Set up acceleration/deceleration for basic linear portion with Pr58 and Pr59
2. Set up S-curve time with time width centering the inflection point of linear
acceleration/deceleration with Pr5A. (unit : 2ms)
87
Pr5B selection of torque command
Initial Value：【0】
Setting Range：0~1
Unit：–
Function：You can select the input of the torque command and the speed limit.
Pr5B
Torque command
Velocity limit
0
SPR/TRQR
Pr56
(CN I/F, Pin-14)
1
CCWTL/TRQR
SPR/TRQR
(CN I/F, Pin-16)
(CN I/F, Pin-14)
Pr5C Input gain of torque command
Initial Value：
【 30】
Setting Range：10~100
Unit：0.1V/100%
Function：You can set the relation between the voltage applied to the torque command input
(SPR/TRQR : CN I/F, Pin-14 or CCWTL/TRQR : CN I/F, Pin-16) and the motor output torque.
Default
Torque
300[%]
Rated
torque
CCW
200
100
10V 8 6 4 2
2 4 6 8 10V
Command
100
200
input
voltage (V)
300[%]
CW
• Unit of the setting value is [0.1V/100%] and set up input voltage necessary to produce the
rated torque.
• Default setting of 30 represents 3V/100%.
Pr5D Input reversal of torque command
Initial Value：【0】
Setting Range：0~1
Unit：–
Function：You can reverse the polarity of the torque command input (SPR/TRQR : CN I/F, Pin-14 or
CCWTL/TRQR : CN I/F, Pin-16)
Setting value Direction of motor output torque
0
CCW direction (viewed from motor shaft) with (+) command
1
CW direction (viewed from motor shaft) with (+) command
88
Pr5E First torque limit setting
Initial Value：【300】
Setting Range：0~300
Unit：%
Function：When Pr03=1, this parameter is valid. You can limit the max torque for both CCW and CW
direction with Pr5E.
This torque limit function limits the max. motor torque with the parameter setting. In normal
operation, this driver permits approx. 3 times larger torque than the rated torque instantaneously. If this 3
times bigger torque causes any trouble to the load (machine), you can use this function to limit the max.
torque.
torque [%]
CCW
300(Max.)
when Pr5E=150
100(Rated)
speed
100
(Ratin) (Max)
300(Max.)
CW
• Setting value is to be given in % against the rated torque.
• shows example of 150% setting with Pr03=1.
• Pr5E limits the max. torque for both CCW and CW directions.
Pr5F Second torque limit setting
Initial Value：【300】
Setting Range：0~300
Unit：%
Function：Refer to Pr58. When Pr03=2, this parameter only limited CW torque.
89
13.5 Parameters for process
Parameter
Pre-set
Applicable
Function
Range
Unit
No.(Pr□□)
Value
Mode
60
In-position range
10
0~32767 Pulse P
61
Zero speed
50
10~10000 rpm All
62
Speed arrival
1000
10~10000 rpm S，T
63
Setting of excessive position deviation
20000 1~32000 Pulse P
Invalid abnormality of excessive position
64
0
0~1
P
deviation
65
In-position output setting
0
0~3
P
66
Sequence at driver inhibit input
0
0~1
All
67
Sequence at main power off
0
0~7
All
68
Sequence at alarm
0
0~3
All
69
Sequence at servo off
0
0~7
All
6A
Setting of mechanical brake action at stall 0
0~500
ms
All
Setting of mechanical brake action at
6B
0
0~500
ms
All
running
★ 6C Selection of external regenerative resistor 0
0~2
All
●Modification of parameter No. marked with ★ will be effective only after control power is reset.
90
Pr60 Positioning complete (in-position) range
Initial Value：【10】
Setting Range：0~32767
Unit：Pulse
Function：You can set up the accuracy range to output the positioning complete signal(IN-POS : CN I/F,
Pin-39).
The positioning complete signal (IN-POS) will be output when the deviation counter pulse counts
fall within ± (the setting value), after the command pulse entry is completed.
• Basic unit of deviation pulse is encoder "resolution".
deviation
~~
pulses
Pr60
IN-POS
ON
Pr60
Note:
1. If you set too small value to Pr60, the time until the IN-POS signal is fed might become
longer, or cause chattering at output.
2. The setting of "Positioning complete range" does not give any effect to the final
positioning accuracy.
Pr61 Zero-speed
Initial Value：【50】
Setting Range：10~10000
Unit：rpm
Function：You can set the range to output the zero-speed output signal (ZSP : CN I/F, Pin-12 or TCL :
CN I/F, Pin-40) in rotational speed [rpm].
The zero-speed detection signal (ZSP) will be output when the motor speed falls under the setting
of this parameter, Pr61.
CCW
Pr61
Pr61
CW
ZSP
ON
91
Pr62 At-speed (speed arrival)
Initial Value：【1000】
Setting Range：10~10000
Unit：rpm
Function：You can set up speed limit to output the At-speed signal（AT-SP：CN I/F PIN 39）At-speed
(Speed arrival) will be output when the motor speed exceeds the setting speed of Pr62.
The setting of Pr62 is valid for both CCW and CW direction regardless of the motor rotational
direction.
Speed
CCW
Pr62
CW
IN-POS(AT -SP)
Pr62
OFF
ON
Pr63 Setting of position deviation excess
Initial Value：【20000】
Setting Range：1~32000
Unit：Pulse
Function： You can set the excess range of position deviation.
Note:
If setting of position gain is too low and setting of Pr63 is too small, even the servo system is not in the
abnormality state, position deviation excess protection may happen.
Pr64 Position deviation excess validity
Initial Value：【0】
Setting Range：0~1
Unit：–
Function：This parameter can make “position deviation excess” function invalid.
Setting Value
position deviation excess
0
Valid
Invalid. As detaining pulses is over the determinant level set by
1
Pr63, it will not be treated as abnormality and continue action.
92
Pr65 Setting of positioning complete (IN-POS) output
Initial Value：【0】
Setting Range：0~3
Unit：–
Function：You can set the action of the positioning complete signal (IN-POS: CN I/F Pin-39 ) in
combination with Pr60 (Positioning complete range).
Setting value
0
1
2
3
Action of positioning complete signal
The signal will turn on when the positional deviation is smaller than Pr60
(Positioning complete range)
The signal will turn on when there is no position command and the
positional deviation is smaller than Pr60 (Positioning complete range).
The signal will turn on when there is no position command, the zero-speed
detection signal is ON and the positional deviation is smaller than Pr60
(Positioning complete range).
The signal will turn on when there is no position command and the
positional deviation is smaller than Pr60 (Positioning complete
range).Then holds "ON" status until the next position command is entered.
Pr66 Sequence at over-travel protection occurrence
Initial Value：【0】
Setting Range：0~1
Unit：–
Function：You can set the running condition during deceleration or after stalling while
over-travel inhibit input （CCW-LIMIT：CN I/F PIN 9 or CW-LIMIT：CN I/F PIN 8）is valid.
Drive Condition
Setting Value
Deviation counter content
During deceleration
After stalling
0
Dynamic Brake
Free-run
Hold
1
Free-run
Free-run
Hold
Pr67 Sequence at main power OFF occurrence
Initial Value：【0】
Setting Range：0~7
Unit：–
Function：Refer Pr69
93
Pr68 Sequence at alarm occurrence
Initial Value：【0】
Setting Range：0~3
Unit：–
Function：You can set up the action during deceleration or after stalling when some error occurs while
either one of the protective functions of the driver is triggered.
Drive Condition
Setting value
Deviation counter content
During deceleration
After stalling
0
Dynamic Brake
Dynamic Brake
Clear
1
Free-run
Dynamic Brake
Clear
2
Dynamic Brake
Free-run
Clear
3
Free-run
Free-run
Clear
Note:
The content of the deviation counter will be cleared when clearing the alarm. Refer to "Timing Chart
(When an error (alarm) occurs at Servo-ON command status)" of Preparation.
Pr69 Sequence at servo OFF occurrence
Initial Value：【0】
Setting Range：0~7
Unit：–
Function：When Pr65 (LV trip selection at main power OFF) is 0, you can set up.
1) the action during deceleration and after stalling
2) the clearing of deviation counter after the main power is shut off.
Drive Condition
Setting value
Deviation counter content
During deceleration
After stalling
0
Dynamic Brake
Dynamic Brake
Clear
1
Free-run
Dynamic Brake
Clear
2
Dynamic Brake
Free-run
Clear
3
Free-run
Free-run
Clear
4
Dynamic Brake
Dynamic Brake
Hold
5
Free-run
Dynamic Brake
Hold
6
Dynamic Brake
Free-run
Hold
7
Free-run
Free-run
Hold
94
Pr6A Setting of delay time from servo off to motor non-energized (motor at stall)
Initial Value：【0】
Setting Range：0~200
Unit：ms
Function：Setup the time from switch off SERVO-ON signal (BRK-OFF : CN I/F, Pin-10 and 11) to
motor non-energized while motor at stall.
• Set up to prevent a micro-travel/drop of the motor (work) due to the action delay time (tb)
of the brake.
• After setting up Pr6A >=tb then the driver will de-energize the motor after the brake is
actually activated.
OFF
ON
SVO-ON
release
Refer to "Timing Chart"-Servo-ON/OFF
Action While the Motor Is at Stall" of
Preparation as well.
hold
tb
release
hold
energized
Pr6A
non-
energized
P6B Setting of delay time from servo-off to brake hold (motor at running)
Initial Value：【0】
Setting Range：0~200
Unit：ms
Function：Setup the time from switch off Servo-ON input signal (SRV-ON : CN I/F, Pin-29) to external
brake release signal output(BRK-OFF : CN I/F, Pin-10 and 11) turns off while motor at running.
• Set up to prevent the brake deterioration due to the motor running.
• At switch off Servo-ON during the motor is running, tb (refer the following fig.) will be the
shorter one of either Pr6B setting time, or time lapse from SERVO-ON switch off to motor
speed falls below 30rpm.
SVO-ON
ON
OFF
release
motor
energized
energization
motor
energization
hold
tb
non-
energized
Refer to "Timing Chart"-Servo-ON/OFF
action while the motor is in motion" of
Preparation as well.
30r/min
95
Pr6C ★ Selection of external regeneration resistor
Initial Value：
【 0】
Setting Range：0~2
Unit：–
Function：With this parameter, you can select either to use the built-in regeneration resistor of the driver,
or to disable built-in regeneration resistor and use external installed regeneration resistor (between P1
and B2) to consume the regeneration energy.
Regeneration processing and
Setting value
Regeneration resistor to be used
regeneration resistor overload
Use internal resistor to consume regeneration
0
Built-in resistor
energy. Regeneration overload protection act.
Use external installed resistor to consume
1
External resistor
regeneration energy on 10% work duty.
Regeneration overload protection act.
2
External resistor
No protection
Pr74 5th speed of speed setting
Initial Value：【0】
Setting Range：-10000~10000
Unit：rpm
Function：Refer to Pr53
Pr75 6th speed of speed setting
Initial Value：【0】
Setting Range：-10000~10000
Unit：rpm
Function：Refer to Pr53
Pr76 7th speed of speed setting
Initial Value：【0】
Setting Range：-10000~10000
Unit：rpm
Function：Refer to Pr53
Pr77 8th speed of speed setting
Initial Value：【0】
Setting Range：-10000~10000
Unit：rpm
Function：Refer to Pr53
96
14. Control Sequence Timing Chart
14.1 Servo ON signal process sequence as power-up
Control power supply
OFF
ON
Approx.1s
Ready output
Servo On
Input
OFF
ON
OFF
ON
Approx.5ms
Dynamic
brake
Engaged
Released
Approx.2ms
Motor
energization
Non-energized
Energized
Approx.40ms
Brake Off
output
Off(brake
engaged)
Approx.5ms
On(brake
Released)
100ms or longer
External
command
Notes:
a.
b.
No command entry
Command entry
Above charter represents the sequences from AC power start to order input.
Input Servo ON signal and external commands according to above sequences.
97
14.2 When an Error (Alarm) Has Occurred (at Servo-ON Command)
normal
Alarm
Ready output
alarm
ready
Not ready
0.5ms~5ms
Alarm output
not alarm
Dynamic
brake
alarm
engaged
release
Motor
energization
energized
Brake Off
outpue
Non-energized
T = Pr6B or when time to fall below 30r/min is shorter
● get faster time
release
engaged
T
Related parameter:
Pr68 Sequence at alarm
Pr6B Setup of mechanical brake action at running
Note:
1. T will be a shorter time of either the setup value of Pr6B or elapsing time for the motor speed to
fall below 30r/min. T will be 0 when the motor is in stall regardless of the setup of Pr6A.
2. For the action of dynamic brake at alarm occurrence, refer to an explanation of Pr68, "Sequence
at alarm ("Parameter setup" at each control mode) as well.
14.3 When an Alarm Has Been Cleared (at Servo-ON Command)
AlarmClear
input
Ready output
Adge trigger
Not ready
ready
Approx.160ms
Alarm output
Dynamic
brake
alarm
No alarm
engaged
release
Approx.1ms
Motor
energization
Brake Off
output
Non-energized
energized
Approx.40ms
engaged
realse
Approx.5ms
100ms or longer
External
command
No command entry
Command entry
98
14.4 Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock)
Servo On
input
OFF
Dynamic
brake
Engaged
Motor
energization
ON
OFF
T
Release
Approx.2ms
Engaged
energized
Non-energized
Non-energized
Approx.40ms
Brake Off
output
Engaged
Release
Approx.5ms
Engaged
Approx.5ms
Related parameter:
Pr69 Sequence at main power OFF
Pr6A Setup of mechanical brake action at stalling
Notes:
1. T will be determined by Pr6A setup value.
2. For the dynamic brake action at Servo-OFF, refer to an explanation of Pr69, "Sequence at
Servo-OFF ("Parameter setup" at each control mode) as well.
3. Servo-ON will not be activated until the motor speed falls below approx. 30r/min.
99
14.5 Servo-ON/OFF Action While the Motor Is in Motion
(Timing at emergency stop or over trip only. Do not repeat this sequence at normal operation.
During the normal operation, stop the motor first then make Servo-ON/OFF action.)
Servo On
input
Dynamic
brake
OFF
ON
OFF
falls below
approx. 30r/min. Release
Engaged
Engaged *1
Approx .5ms
Motor
energization
Non-energized
energized
Non-energized *2
Approx .40ms
Brake Off
output
Engaged
Engaged
Approx .5ms Release
T = Pr6B or when time to fall below 30r/min is shorter
● get faster time
Related parameter:
Pr69 Sequence at main power OFF
Pr6B Setup of mechanical brake action at running
Notes:
1. T will be a shorter time of either the setup value of Pr6B or elapsing time for the motor speed to
fall below 30r/min.
2. Even though the SRV-ON signal is turned on again during the motor deceleration, Servo-ON
will not be activated until the motor stops.
3. Servo-ON will not be activated until the motor speed falls below approx. 30r/min.
*1*2 For the motor energized during deceleration at Servo-OFF, refer to an explanation of Pr69,
"Sequence at Serve-OFF ("Parameter setup" at each control mode) as well.
100
15. Gain adjustment and speed limit
15.1 Real-time Auto-gain adjustment
The driver estimates the load inertia of the machine in real time, and automatically sets up the
optimum gain responding to the result. Also the driver automatically suppresses the vibration caused by
the resonance with an adaptive filter.
All drive control mode, can utilize the real-time auto-gain adjustment.
Servo driver
Action command
underactual condition
Position or
Velocity
command
Torque
command
Auto-gain setup
Position/Velocity
control
Torque filter
Output
current
Current
control
Motor
Real-time Auto-gain tuning
Load inertia ratio
estimation and
filter adjustments
Speed
feedback
Encoder
Methods of operation
1. Bring the motor to stall (Servo-OFF). (SVO-ON：CN I/F PIN 29)
2. Set up Pr21(Real-time auto-gain)，Set to a value other than 0. Usually begins from a number set
by the small. The smaller the value, representing the learning rate is lower, for moderate
changes in load inertia body. Higher learning rate, although you can quickly estimate the change
in inertia, but because some motion curve may become unstable.
3. Pr22 set stiffness parameters, please start from the lower value set.
4. Then the motor can be Servo ON, that is, the input signal (SVO-ON: CN I / F PIN 29) to ON,
and operation of machinery in accordance with the general way to start.
5. In the mechanical operation, please also observe whether the normal functioning of institutions.
When you want to improve the motor response, gradually increase the value of Pr22 to the
appropriate stiffness. Adjust stiffness, if the occurrence of abnormal noise or mechanical
earthquake, they should immediately reduce the stiffness values
6. Operation is completed; the results can be saved to EEPROM, for later re-use.
101
Setting Value
【 0】
1
2
3
4
5
6
7
Real-time auto-gain
Turn off
Load inertia
Slower learning rate
Almost no change
Normal learning rate
Change mitigation
Fast learning rate
Fast changes
Note:
1. Setting is "0", it will turn off real-time auto-gain adjustment function.
2. The following conditions occurs, real-time auto-gain adjustment may not work, use off-line
auto-gain or manually adjust the gain of the gain adjustment parameters.
• Rapid changes in load inertia ratio.
• Load inertia is too large, more than 20 times
• Mechanical stiffness is too low
• Gear gap phenomenon occurs
Automatic adjusted parameter list
On-line real-time auto-gain function is turned on, the following parameters will be automatically
adjusted, but can not manually change the value.
Pr No.
10
11
12
13
14
15
16
18
19
1A
1B
1C
20
30
Function
First position loop gain
First speed loop gain
Time constant of first speed loop integral
First speed detection filter
Time constant of first torque filter
Speed feed-forward
Time constant of speed feed-forward filter
Second position loop gain
Second speed loop gain
Time constant of second speed loop integral
Second speed detection filter
Time constant of second torque filter
Inertia ratio
Second gain action setting
102
15.2 Off-line Auto-gain adjustment
The drive use internal position command to control motor movements. It runs through the
mechanical load torque and acceleration then estimate the load inertia ratio to automatically adjust to the
appropriate gain.
Servo driver
Position
command
Internal
pulse
generator
Auto-gain setup
Torque
command
Position/Velocity
control
Current
control
Output
current
Motor
Off-line auto-gain tuning
Load inertia ratio
estimation
Speed
feedback
Encoder
Methods of operation
1. Please be in accordance with the machinery of the actual situation, setting Pr25(off-line
auto-gain). Select the mode of operation and scope rotated.
Pr25 = 0, meaning the motor (facing shaft) from the starting point, first to the CCW direction of
rotation 2 laps later, and then went to the CW direction of rotation 2 laps back to the original
starting point, execution totally five cycles.
2. According to the set value of scope rotated, the mechanical load will be safe in operation and be
sure to disable all external command input to drive.
3. Motor Servo ON, that is, the input signal (SVO-ON: CN I / F PIN 29) is turned ON.
4. Choose the mechanical stiffness values required. You can start the off-line auto-gain adjustment,
stiffness value setting, please begin by smaller setting value. If the mechanical function is normal,
and then increase to the appropriate stiffness values, adjusted to no abnormal noise or vibration.
5. Operation is completed; the results can be saved to EEPROM, for later re-use.
Note:
If the following conditions occur, off-line auto-gain adjustment may not work, use manually adjust of
the gain adjustment parameters.
• Load inertia is too large, more than 20 times
• Mechanical stiffness is too low
• Gear gap phenomenon occurs
103
Setting Value
【 0】
1
2
3
4
5
6
7
Rotational direction
CCW → CW
CW → CCW
CCW →
CW →
CCW → CW
CW → CCW
CCW →
CW →
Number of revolution
2 revolution(CCW → CW)
2 revolution(CW → CCW)
2 revolution( only CCW )
2 revolution( only CW )
1 revolution(CCW → CW)
1 revolution(CW → CCW)
1 revolution( only CCW )
1 revolution( only CW )
Automatic adjusted parameter list
If off-line auto-gain function is turned on, the following parameters will be automatically adjusted.
Pr No
Function
10 First position loop gain
11 First speed loop gain
Time constant of first speed
12
loop integral
13 First speed detection filter
Time constant of first torque
14
filter
15 Speed feed-forward
Time constant of speed
16
feed-forward filter
18 Second position loop gain
19 Second speed loop gain
Time constant of second
1A
speed loop integral
1B Second speed detection filter
Time constant of second
1C
torque filter
20 Inertia ratio
31 Position control shift mode
Position control shift delay
32
time
33 Position control shift level
34 Position control shift width
35 Position gain shift time
36 Speed control shift mode
3A Torque control shift mode
stiffness
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
12 20 31 40 47 59 63 70 75 82 95 115 132 164 195 255
9 15 19 25 36 43 50 59 65 72 85 104 126 155 185 240
62 50 38 31 28 26 24 22 21 19 18 17 16 15 15 9
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
500 500 500 500 500 350 300 250 250 200 150 150 150 150 150 150
300 300 300 300 300 300 300 300 300 300 300 300 300 300 300 300
50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50
19 24 37 48 54 69 74 82 87 95 111 134 154 191 228 297
9 15 19 25 36 43 50 59 65 72 85 104 126 155 185 240
130 130 130 130 130 130 130 130 130 130 130 130 130 130 130 130
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
500 500 500 500 500 350 300 250 250 200 150 150 150 150 150 150
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
5
5
5
5
5
5
5
5
5
5
5
5
5
5
5
5
100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100
30 30 30 30 30 30 30 30 30 30 30 30 30 30 30 30
4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
104
15.3 Manual Adjustment of gain
15.3.1 Adjustment in Position Control Mode
Parameter
Title of
Standard
Order
How to adjust
No.
parameter
value
Increase the value within the range where no
1st
gain
of
1
Pr11
36
abnormal noise and no vibration occur. If they
velocity loop
occur, lower the value.
When vibration occurs by changing Pr11,
change this value. Setup so as to make Pr11 x
Pr14 becomes smaller than 10000. If you want
1st
time
constant
2
Pr14
65
to suppress vibration at stopping, setup larger
of torque filter
value to Pr14 and smaller value to Pr11. If you
experience too large vibration right before
stopping, lower the value of Pr14.
Adjust this observing the positioning time.
Larger the setup, faster the positioning time
1st gain of
3
Pr10
47
position loop
you can obtain, but too large setup may cause
oscillation.
Setup this value within the range where no
problem occurs. If you setup smaller value,
1st time constant
you can obtain a shorter positioning time, but
4
Pr12
of velocity loop
28
too small value may cause oscillation. If you
integration
setup too large value, deviation pulses do not
converge and will be remained.
Increase the value within the range where no
abnormal noise occurs. Too large setup may
result in overshoot or chattering of position
Velocity feed
5
Pr15
300
complete signal, hence does not shorten the
forward
settling time. If the command pulse is not
evenly distributed, you can improve by setting
up Pr16 (Feed forward filter) to larger value.
15.3.2 Adjustment in Velocity Control Mode
Except gain of position loop and Velocity feed forward, adjustments of velocity control are similar
with above adjustment of position mode.
15.3.3 Adjustment in Torque Control Mode
Pr56 (4th speed of speed setting)or velocity control loop of SPR speed limit input is the base of
torque control. The following explains the setting of speed limit value.
105
1.
2.
15.4 Setup of speed limit
The Pr56 4th speed setting will transfer its function to speed limit under:
the torque command selection Pr5B=0 and use torque command input mode or
the torque command selection Pr5B=1 and use analog speed command input mode
Under condition 1, when the motor speed approaches to the speed limiting value, torque control
following the analog torque command will shift to velocity control based on the speed limiting value
which will be determined by the 4th speed of speed setup (Pr56) or the analog speed command input
(SPR/TRQR/SPL).
In order to stabilize the movement under the speed limiting, you are required to set up the
parameters according to the above-mentioned "Adjustment in Velocity Control Mode".
When the speed limiting value = 4th speed of speed setup (Pr56) , the analog speed command input
is too low or the velocity loop gain is too low, or when the time constant of the velocity loop integration
is 1000 (invalid), the input to the torque limiting portion of the above fig. becomes small and the output
torque may not be generated as the analog torque command.
106
16. Motor Characteristics (S-T Characteristics)
16.1 Motor characteristic curve
0.5
(0.32)
0
Peak running range
continuous running range
100 200 300 400 500
0
0 Speed
0
0[ r/min
0 ]
2.0
(1.95)
1.0
(0.65)
0
Peak running range
continuous running range
100 200 300 400 500
0
0 Speed
0
0[ r/min
0 ]
100 200 300 400 500
0
0
0
0[ r/min
0 ]
Speed
50
3.0
(2.4) continuous running range
0 10： 20：
0
30 40
：
： temp [ ： ]
Ambient
： Continuous torque vs. ambient temp. [ ： ]
100
85
50
15
(14.4)
0 10： 20： 30 40
：
： temp [ ： ]
Ambient
Peak running range
continuous running range
1000
0
22.0
(21.6)
(7.2)
8.0
2000
3000
Speed [ r/min ]
1.5KW
Torque
[ N-m ]
： Continuous torque vs. ambient temp. [ ： ]
50
1KW
Torque
[ N-m ]
5.0
(4.8)
100
85
100 200 300 400 500
0
0 Speed
0
0[ r/min
0]
Peak running range
continuous running range
0 10： 20： 30 40
：
： temp [ ： ]
Ambient
0
1000
2000
3000
Speed [ r/min ]
ratio vs. rated torque [%]
0
ratio vs. rated torque [%]
Torque
400W
[ N-m ]
4.0
(3.8)
Peak running range
2.0
(1.3) continuous running range
100
85
Torque
750W
[ N-m ]
8.0
(7.1) Peak running range
ratio vs. rated torque [%]
200W
ratio vs. rated torque [%]
Torque
[ N-m ]
： Continuous torque vs. ambient temp. [ ： ]
ratio vs. rated torque [%]
1.0
(0.96)
100W
ratio vs. rated torque [%]
Torque
[ N-m ]
： Continuous torque vs. ambient temp. [ ： ]
100
85
50
0 10： 20：
30 40
：
：temp [ ： ]
Ambient
： Continuous torque vs. ambient temp. [ ： ]
100
50
0 10： 20：
30 40
：
：temp [ ： ]
Ambient
： Continuous torque vs. ambient temp. [ ： ]
100
50
0 10： 20： 30 40
：
：temp [ ： ]
Ambient
16.2 Overload protection time characteristics
Time [ sec ]
100
Overload protection time characteristics
10
1
0.1
100% 115%
150%
200%
250%
107
300% Torque [ % ]
17. Connector Kit for Motor/Encoder Connection
17.1 Connector and connector pin
Applicable motor models：KSMA 100W ~ 750W
Item
Part No.
Number
Manufacturer
Note
Connector
172167-1
1
Tyco electronics
connector of motor side and
4
Tyco electronics
power connection
Connector pin 170364-1
Connector
172171-1
1
Tyco electronics
connector of motor side and
170363-1
11
Tyco
electronics
encoder connection
Connector pin
Connector
172159-1
1
Tyco electronics
connector of motor power
4
Tyco electronics
connection cable
Connector pin 170366-1
Connector
172163-1
1
Tyco electronics
connector of encoder
11
Tyco electronics
connection cable
Connector pin 170365-1
Applicable motor models：KSMA 1000W ~ 2000W
Item
Part No.
Number Manufacturer
Note
Straight connector
AMS3106B 20-4S 1
PLT
connector of motor power
connection cable
90 degree connector
AMS3108B 20-4S 1
PLT
Straight connector
AMS3106B 20-29S 1
PLT
connector of encoder
connection cable
90 degree connector
AMS3108B 20-29S 1
PLT
※Above non-waterproof models, if the waterproof requirements, please purchase separately.
17.2 SCSI-II Interface Cable
Connector of diver side
SIG
I/F
Related connector prepard by user
Part No.
Type
Connector(Welded)
10120-3000PE
Shell of Connector
10320-52A0-008
Connector(Welded)
10150-3000PE
Shell of Connector
10350-52A0-008
17.3 Specification of Main Loop connector
Item
Part No.
Number
Connector (Female),
5PIN，7.5mm
Connector (Female),
3PIN，5mm
Connetctor (Female),
3PIN，7.5mm
White lever
Manufacturer
231-205/026-000
1
WAGO
231-103/026-000
1
WAGO
231-203/026-000
1
WAGO
231-131
2
WAGO
108
Manufacturer
Sumitomo 3M
Sumitomo 3M
Note
connector used by main
power( L1,L2, L3 )and control
power( r, t)
Connectors of flyback resistor
(P, B1, B2)
Connector of motor power(U、
V、V)
Wiring tool
18. Driver Specifications
18.1 Basic Specifications
Main circuit
Input power
Control circuit
Temperature
Humidity
Environment
Altitude
Vibration
Control method
Encoder feedback
Input
Control signal
Output
Basic Specifications
Input
Analog signal
Output
Input
Pulse signal
Output
Communication
RS232
function
Front panel
Regeneration
Dynamic brake
Control mode
Single/3-phase，190~255V 50/60Hz
Single Phase，190~255V 50/60Hz
Operating : 0 to 55°C, Storage : –20 to +80°C
Both operating and storage : 90%RH or less (free from
condensation)
1000m or lower
5.88m/s2 or less, 10 to 60Hz (No continuous use at resonance
frequency)
IGBT PWM Sinusoidal wave drive
2500P/r (10000 resolution) incremental encoder
11 inputs
(1) Servo-ON, (2) Control mode switching, (3) Gain
switching/Torque limit switching, (4) Alarm clear Other inputs
vary depending on the control mode.
6 outputs
(1) Servo alarm, (2) Servo ready, (3) Release signal of external
brake (4) Zero speed detection,(5) Torque in-limit. Other outputs
vary depending on the control mode.
3 inputs(A/D)
2 outputs (for monitoring)
(1) Velocity monitor (Monitoring of actual motor speed or
command speed is enabled. Select the content and scale with
parameter.), (2) Torque monitor (Monitoring of torque
command,(approx.. 3V/rated torque)), deviation counter or
full-closed deviation is enabled. Select the content or scale with
parameter.)
4 inputs ,Select the exclusive input for line driver or
photo-coupler input with parameter.
4 outputs ,Feed out the encoder pulse (A, B and Z-phase) or
external scale pulse (EXA, EXB and EXZ-phase) in line driver.
Z-phase and EXZ-phase pulse is also fed out in open collector.
1 : 1 communication to a host with RS23 interface is enabled.
(1) 5 keys (MODE, SET, UP, DOWN, SHIFT), (2) LED
(6-digit)
Built-in regenerative resistor ( 50W )。
Setup of action sequence at Power-OFF, Servo-OFF, at
protective function activation and over-travel inhibit input is
enabled.
Switching among the following 6 mode is enabled, (1) Position
control, (2) Velocity control, (3) Toque control, (4)
Position/Velocity control, (5) Position/Torque control, (6)
Velocity/Torque control
109
18.2 Function
Control input
Control input
Control output
Max. command
pulse frequency
Pulse input
Position
Input pulse
signal format
Type of
input pulse
Electronic gear
(Division/
Multiplication
of command pulse)
Function
Smoothing filter
Analog Torque limit
input command input
Control input
Control output
Velocity
Analog input
Velocity
command
input
Torque limit
command input
Speed control range
Internal velocity command
Soft-start/down function
Zero-speed clam
Inputs of 1) Servo-ON, 2) Alarm clear, 3) Gain switching,
4) Control mode switching, 5) CW over-travel inhibition
and 6) CCW over-travel inhibition are common, and other
inputs vary depending on the control mode.
(1) Deviation counter clear, (2) Command pulse inhibition,
(3) Damping control switching,(4) Gain switching or
Torque limit switching
Positioning complete (In-position)
Exclusive interface for line driver : 2Mpps, Line driver :
500kpps,
Open collector : 200kpps
Support (1) RS422 line drive signal and (2) Open collector
signal from controller.
1) CW/CCW pulse, (2) Pulse signal/rotational direction
signal, (3) 90° phase difference signal
Process the command
x
pulse frequency
(1 to 10000) × 2
(0 to 17)
1 to 10000
Primary delay filter is adaptable to the command input
Selectable of
(1) Position control for high stiffness machine and
(2) FIR type filter for position control for low stiffness
machine.
Individual torque limit for both CW and CCW direction is
enabled. (3V/rated torque)
(1) Speed zero clamp, (2) Selection of internal velocity
setup,
(3) Gain switching or Torque limit switching input
(1) Speed arrival (at-speed)
Setup of scale and rotational direction of the motor against
the command voltage is enabled with parameter, with the
permissible max. voltage input = ±10V and 6V/rated speed
(default setup)
Individual torque limit for both CW and CCW direction is
enabled. (3V/rated torque)
1：5000
8-speed with parameter setup
Individual setup of acceleration and deceleration is enabled,
with 0 to 10s/1000r/min.
Sigmoid acceleration/deceleration is also enabled.
0-clamp of internal velocity command with speed zero
clamp input is enabled.
110
Control input
Control output
Analog input
Torque control
Velocity
Command
input
Speed limit input
Speed limit function
Function
Masking of
unnecessary input
Division of encoder
feedback pulse
Protective
function
Common
Soft error
Hard error
Traceability of alarm data
Setup
Manual
Setup support software
(1) CW over-travel inhibition, (2) CCW over-travel
inhibition, (3) Speed zero clamp
(1) Speed arrival (at-speed)
Setup of scale and CW/CCW torque generating
direction of the motor against the command voltage is
enabled with parameter, with the permissible max.
voltage input = ±10V and 3V/rated speed (default
setup).
Speed limit input by analog voltage is enabled. Scale
setup with parameter.
Speed limit value with parameter or analog input is
enabled.
Masking of the following input signal is enabled.
(1) Over-travel inhibition, (2) Torque limit, (3)
Command pulse inhibition, (4) Speed-zero clamp
Set up of any value is enabled (encoder pulses count is
the max.).
Over-voltage, under-voltage, over-speed over-load,
over-heat, over-current and encoder error etc.
Excess position deviation, command pulse division
error, EEPROM error etc.
Traceable up to past 16 alarms including the present
one.
5push switches on front panel
MODE
SET
△
▽
◁
KSDTools
111
19. Error Code Description
Err.11
Causes



Solution


Under-voltage protection for control power
Control power (r、t) lower voltage.
Momentary power failure occur the input control voltage.
Insufficient power, result in the instant voltage drop on.
Measurement control power (r, t) of the input voltage is correct.
Increase the capacity of power supply.
Err.12 Over-voltage protection
Causes
 Voltage exceeds permissible voltage range AC 260V.
 Regenerative resistor inappropriate, regenerative energy absorption is not complete.
 Regenerative resistor disconnected.
Solution
 Measurement main power (L1、L2、L3) of the input voltage is correct.
 Replaced by high power regenerative resistor.
 Measured P-B2 regenerative resistor values. If an open circuit, then replace the external
resistor.
Err.13
Causes




Solution



Under-voltage protection for main power
Err.11
Causes





Over-current protection (software)

Main power (L1、L2、L3) low voltage.
Main power Instant power failure.
Insufficient power, result in the instant voltage drop on.
Lack of power phase.
Measurement main power (L1、L2、L3) of the input voltage is correct.
Increase the capacity of power supply.
Properly connected to the main power. When using single-phase power connection L1, L3.
When using the three-phase power, connect L1, L2, L3.
Driver output current exceeds the limit values.
Servo motor power line contact is not completely, UVW between the short circuit or ground.
Command input and Servo ON the same time or earlier.
Driver failure or motor failure.
Often in the servo motor rotates, turn on or turn off the Servo ON, leading to destruction of the
dynamic brake relay.
Servo motor and drive specifications do not meet.
112
Solution
 Check servo motor UVW connector for loose or exposed wire and short circuit, poor
insulation and green lines.
 Servo ON after waiting for more than 100ms is required, before they can input command.
 Please remove the servo motor power cable, then input the Servo ON test. If an exception
occurs immediately after Servo ON, necessary to replace the drive.
 Measure the line resistance servo motor is balanced, if the resistance of imbalance need to
replace the servo motor.
 Do not use Servo OFF / ON control servo motor to stop or running.
 According to label instructions, to confirm the servo motor drive models and capacities are
matched with each other.
Err.15
Causes


Solution



Over-heat protection
Driver cooling, power components over the temperature exceeded the specified value.
Load excessive.
Reduce the temperature of the environment and enhance DRIVER cooling.
Increase the deceleration time and lower operating speed.
Choose a higher capacity drives and servo motors.
Err.16 Overload protection
Causes
 Torque command values exceeded overload level (115%), the time limit will be based on
overload characteristic curve, resulting in overload protection.
Time [ sec ]
100
Overload protection time characteristics
10
1
0.1
100% 115%




Solution






150%
200%
250%
300% Torque [ % ]
Heavy load and makes the actual output torque exceeds the rated torque and continuous
operation.
Gain is adjusted properly, leading to mechanical vibration, shaking.
Poor installation, cause the machine is not running smoothly.
Motor operation, electromagnetic brake not released.
Choose a higher capacity drives and servo motors.
Increase the deceleration time and lower operating speed.
Reduce the load.
Re-adjust the gain parameter.
Adjust machine so that machine running smoothly.
Sure the electromagnetic brake of the terminal voltage (24V) is the normal brake release.
113
Err.18 Over regenerative load protection
Causes
 Large load, the servo motor in the regenerative energy during deceleration, regenerative
resistor exceeded the processing capacity, resulting in increased driver of the capacitor voltage.
 Servo motor in high speed operation, in a short deceleration time can not fully absorb the
regenerative energy.
 External resistor consumption is limited to 10% duty.
Solution
 Observing the driver alert status and regenerative load ratio.
 Increase the deceleration time and lower operating speed.
 Choose a higher capacity drives and servo motors
 Use of external regenerative resistor. (Specifications for the built-in regenerative resistor 150Ω
50W).
 After using the external regenerative resistor, if still not fully absorb the regenerative energy，
You can try to Pr6C = 2，And note that using this setting, be sure to set the temperature fuse
protection to avoid damage resistance.
Err.20 Encoder A,B phase error protection
Causes
 Encoder cable poor contact occurs, leading to A, B phase feedback signal or the differential
voltage level is not correct.
Solution
 Check SIG encoder connector is properly connected driver.
 Check the encoder cable, male and female connectors really connected whether loose or loose
metal pin.
Err.21 Encoder communication error protection
Causes
 Drive operation, to detect the driver and encoder communications interrupt too many times.
Solution
 Check SIG encoder connector is properly connected driver.
 Check the encoder cable, male and female connectors really connected whether loose or loose
metal pin.
 encoder cable, motor cable, the power input line to keep their distance more than 30cm, please
do not tie together by the same groove.
Err.22 encoder communication data error protection
Causes
 Drive operation, no breakdown in communications, but may be due to noise interference, and
to detect the communication with the encoder information is incorrect.
Solution
 Check SIG encoder connector is properly connected driver.
 Check the encoder cable, male and female connectors really connected whether loose or loose
metal pin.
 encoder cable, motor cable, the power input line to keep their distance more than 30cm, please
do not tie together by the same groove.
114
Err.24
Causes


Solution






Excess position deviation protection
Servo motor does not rotate to follow the command.
Pulse position deviation exceeds Pr63.
Check the servo motor to follow the position command input rotation.
Check the servo motor wiring is correct UVW.
Increase the gain setting.
Extend motion controller acceleration and deceleration time and lower operating speed.
Reduce the load.
Increase Pr63, or set Pr64 = 1.
Err.26 Over speed protection
Causes
 Servo motor rotation speed exceeds the maximum speed limit.
 Poor gain adjustment, resulting in Overshoot.
Solution
 Check the position command pulse frequency does not exceed the input limit.
 Check the input command electronic gear ratio is too large.
 Avoid fast speed command input.
 Re-adjust the gain settings to eliminate the Overshoot.
Err.29
Causes

Solution



Deviation counter over flow protection
Err.36
Causes

Solution



EEPROM parameter error protection
Err.37
Causes

Solution



EEPROM parameter error protection
Deviation counter value exceeds 2 27 ( 134217728)
Check the servo motor is rotating along with the input position command.
Check the servo motor wiring is correct UVW.
Increase the gain setting.
Read data from the EEPROM, EEPROM data corruption parameters.
Reset all the parameters, and stored in the EEPROM.
The contents of the EEPROM restore to factory state.
If repeated, shall replace the drive.
Stored in the EEPROM data corruption of CRC.
Reset all the parameters, and stored in the EEPROM.
The contents of the EEPROM restore to factory state.
If repeated, shall replace the drive.
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Err.36 Run inhibit input protection
Causes
 Pr04 = 0 时, CCW-LIMIT (CN I / F, Pin-9) and CW-LIMIT (CN I / F, Pin-8), both open to the
COM-.
 Pr04 = 2, CCW-LIMIT and CW-LIMIT, one of which, with the COM-open.
Solution
 Check the pin CCW-LIMIT, CW-LIMIT and COM-connection of sensors, switches, power
supplies and other wiring is abnormal.
 Check the I / F control signal power on sequencing.
Err.48 Encoder Z phase error protection
Causes
 Encoder cable exposure is not good, resulting in the Z-phase feedback voltage level
differential signal or incorrect.
Solution
 Check SIG encoder connector is properly connected driver.
 Check the encoder cable, male and female connectors really connected whether loose or loose
metal pin.
Err.49 Encoder Z phase lose protection
Causes
 Encoder one rotation, Z phase signal is not detected when a protective.
Solution
 Encoder components may fail, need to replace motor.
Err.48 Encoder Z phase double signal
Causes
 Encoder rotating a circle, more than once detected the Z-phase signal to produce a protective
Solution
 The motor shaft may be subjected to hit, pulling and other external stress, resulting in
breakage of glass plate, need to replace motor.
Err.99
Causes
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Over current protection (hardware)
Driver output current exceeds the limit values.
Servo motor power line contact is not completely, UVW between the short circuit or ground.
Command input and Servo ON the same time or earlier.
Driver failure or motor failure.
Often in the servo motor rotates, turn on or turn off the Servo ON, leading to destruction of the
dynamic brake relay.
Servo motor and drive specifications do not meet.
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Solution
 Check servo motor UVW connector for loose or exposed wire and short circuit, poor
insulation and green lines.
 Servo ON after waiting for more than 100ms is required, before they can input command.
 Please remove the servo motor power cable, then input the Servo ON test. If an exception
occurs immediately after Servo ON, necessary to replace the drive.
 Measure the line resistance servo motor is balanced, if the resistance of imbalance need to
replace the servo motor.
 Do not use Servo OFF / ON control servo motor to stop or running.
 According to label instructions, to confirm the servo motor drive models and capacities are
matched with each other.
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